master/fsm_slave.c
author Florian Pose <fp@igh-essen.com>
Thu, 21 Feb 2008 09:50:54 +0000
changeset 807 f8bca95ab75d
parent 802 b947d0b09f9a
child 813 bfc3f1ab52de
permissions -rw-r--r--
Moved ecrt_domain_reg_pdo_entry() to
ecrt_slave_config_reg_pdo_entry().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave.h"
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/*****************************************************************************/
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
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void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_sdo_conf(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_mapping(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_pdo_conf(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_mapping(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
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void ec_fsm_slave_state_end(ec_fsm_slave_t *);
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void ec_fsm_slave_state_error(ec_fsm_slave_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
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        ec_datagram_t *datagram /**< datagram structure to use */
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        )
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{
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    fsm->datagram = datagram;
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    // init sub state machines
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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
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    ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    // clear sub state machines
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    ec_fsm_sii_clear(&fsm->fsm_sii);
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
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    ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
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}
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/*****************************************************************************/
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/**
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 * Start slave scan state machine.
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 */
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void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_scan_state_start;
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}
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/*****************************************************************************/
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/**
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 * Start slave configuration state machine.
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 */
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void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
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        ec_slave_t *slave /**< slave to configure */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_slave_conf_state_start;
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}
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/*****************************************************************************/
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/**
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   \return false, if state machine has terminated
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*/
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int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    return fsm->state != ec_fsm_slave_state_end
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        && fsm->state != ec_fsm_slave_state_error;
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}
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/*****************************************************************************/
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260
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/**
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   Executes the current state of the state machine.
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   If the state machine's datagram is not sent or received yet, the execution
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   of the state machine is delayed to the next cycle.
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   \return false, if state machine has terminated
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*/
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528
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int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return ec_fsm_slave_running(fsm);
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    }
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    fsm->state(fsm);
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    return ec_fsm_slave_running(fsm);
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}
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/*****************************************************************************/
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/**
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   \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    return fsm->state == ec_fsm_slave_state_end;
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}
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/******************************************************************************
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7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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 *  slave scan state machine
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 *****************************************************************************/
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/**
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   Slave scan state: START.
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   First state of the slave state machine. Writes the station address to the
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   slave, according to its ring position.
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*/
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528
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void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    // write station address
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    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
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    EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_slave_scan_state_address;
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}
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/*****************************************************************************/
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/**
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   Slave scan state: ADDRESS.
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*/
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528
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void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_slave_state_error;
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        EC_ERR("Failed to receive station address datagram for slave %i"
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                " (datagram state %i)\n",
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                fsm->slave->ring_position, datagram->state);
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        return;
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    }
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    if (datagram->working_counter != 1) {
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        fsm->slave->error_flag = 1;
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        fsm->state = ec_fsm_slave_state_error;
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        EC_ERR("Failed to write station address on slave %i: ",
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               fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
292
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   231
        return;
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   232
    }
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    // Read AL state
293
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    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
505
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    fsm->retries = EC_FSM_RETRIES;
528
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    fsm->state = ec_fsm_slave_scan_state_state;
310
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   238
}
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/*****************************************************************************/
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/**
409
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   Slave scan state: STATE.
310
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*/
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713
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void ec_fsm_slave_scan_state_state(
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        ec_fsm_slave_t *fsm /**< slave state machine */
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        )
528
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{
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    ec_datagram_t *datagram = fsm->datagram;
293
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    ec_slave_t *slave = fsm->slave;
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637
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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   255
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
528
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        fsm->state = ec_fsm_slave_state_error;
594
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        EC_ERR("Failed to receive AL state datagram from slave %i"
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                " (datagram state %i).\n",
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               fsm->slave->ring_position, datagram->state);
505
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        return;
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    }
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    if (datagram->working_counter != 1) {
291
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        fsm->slave->error_flag = 1;
528
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        fsm->state = ec_fsm_slave_state_error;
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        EC_ERR("Failed to read AL state of slave %i: ",
255
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               fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
255
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        return;
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    }
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293
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    slave->current_state = EC_READ_U8(datagram->data);
402
03e31ac14047 Renamed EC_ACK to EC_SLAVE_STATE_ACK_ERR
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    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
454
25cc4a3b9e0a State acknowledgement in master state machine.
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        char state_str[EC_STATE_STRING_SIZE];
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        ec_state_string(slave->current_state, state_str);
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        EC_WARN("Slave %i has state error bit set (%s)!\n",
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                slave->ring_position, state_str);
255
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   279
    }
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238
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    // read base data
293
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    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
505
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    fsm->retries = EC_FSM_RETRIES;
528
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    fsm->state = ec_fsm_slave_scan_state_base;
310
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}
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/*****************************************************************************/
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/**
409
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   Slave scan state: BASE.
310
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*/
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528
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   293
void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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   295
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
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   296
    ec_slave_t *slave = fsm->slave;
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   297
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   299
        return;
505
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   300
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   301
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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   302
        fsm->state = ec_fsm_slave_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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   303
        EC_ERR("Failed to receive base data datagram for slave %i"
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   304
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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diff changeset
   305
               slave->ring_position, datagram->state);
505
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diff changeset
   306
        return;
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   307
    }
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diff changeset
   308
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diff changeset
   309
    if (datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
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diff changeset
   310
        fsm->slave->error_flag = 1;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   311
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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   312
        EC_ERR("Failed to read base data from slave %i: ",
238
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   313
               slave->ring_position);
713
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   314
        ec_datagram_print_wc_error(datagram);
238
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   315
        return;
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   316
    }
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   317
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   318
    slave->base_type       = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram.
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parents: 292
diff changeset
   319
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   320
    slave->base_build      = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram.
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parents: 292
diff changeset
   321
    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
238
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   322
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   323
    if (slave->base_fmmu_count > EC_MAX_FMMUS)
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   324
        slave->base_fmmu_count = EC_MAX_FMMUS;
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diff changeset
   325
b4960499098f Added finite state machine (FSM) processing.
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   326
    // read data link status
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   327
    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   328
    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]
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parents: 523
diff changeset
   329
    fsm->state = ec_fsm_slave_scan_state_datalink;
310
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diff changeset
   330
}
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diff changeset
   331
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diff changeset
   332
/*****************************************************************************/
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   333
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diff changeset
   334
/**
409
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diff changeset
   335
   Slave scan state: DATALINK.
310
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diff changeset
   336
*/
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diff changeset
   337
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   338
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   339
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
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diff changeset
   340
    ec_datagram_t *datagram = fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   341
    ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   342
    uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing.
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parents:
diff changeset
   343
    unsigned int i;
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   344
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   345
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   346
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 484
diff changeset
   347
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   348
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
   349
        fsm->state = ec_fsm_slave_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
   350
        EC_ERR("Failed to receive DL status datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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diff changeset
   351
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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parents: 556
diff changeset
   352
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   353
        return;
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diff changeset
   354
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   355
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   356
    if (datagram->working_counter != 1) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   357
        fsm->slave->error_flag = 1;
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
   358
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   359
        EC_ERR("Failed to read DL status from slave %i: ",
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   361
        ec_datagram_print_wc_error(datagram);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   365
    dl_status = EC_READ_U16(datagram->data);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   372
    // Start fetching EEPROM size
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   373
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   374
    fsm->sii_offset = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   375
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, 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
   376
    fsm->state = ec_fsm_slave_scan_state_eeprom_size;
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
   377
    fsm->state(fsm); // execute state immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   383
   Slave scan state: EEPROM SIZE.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   384
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   385
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
void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   387
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   388
    ec_slave_t *slave = fsm->slave;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   389
    uint16_t cat_type, cat_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   391
    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
   392
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   393
    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
   394
        fsm->slave->error_flag = 1;
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
   395
        fsm->state = ec_fsm_slave_state_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   396
        EC_ERR("Failed to read EEPROM size of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   397
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   401
    cat_type = EC_READ_U16(fsm->fsm_sii.value);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   402
    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   403
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   404
    if (cat_type != 0xFFFF) { // not the last category
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   405
        off_t next_offset = 2UL + fsm->sii_offset + cat_size;
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   406
        if (next_offset >= EC_MAX_EEPROM_SIZE) {
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   407
            EC_WARN("EEPROM size of slave %i exceeds"
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   408
                    " %u words (0xffff limiter missing?).\n",
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   409
                    slave->ring_position, EC_MAX_EEPROM_SIZE);
771
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   410
            // cut off category data...
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   411
            slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   412
            goto alloc_eeprom;
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   413
        }
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   414
        fsm->sii_offset = next_offset;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   415
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   416
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   417
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   418
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   419
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   420
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   421
    slave->eeprom_size = (fsm->sii_offset + 1) * 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   422
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   423
alloc_eeprom:
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   424
    if (slave->eeprom_data) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   425
        EC_WARN("Freeing old EEPROM data on slave %i...\n",
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   426
                slave->ring_position);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   427
        kfree(slave->eeprom_data);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   428
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   429
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   430
    if (!(slave->eeprom_data =
734
8c9d62f7c2cd Minor fix: Set eeprom_size to 0 on unsuccessful memory allocation.
Florian Pose <fp@igh-essen.com>
parents: 731
diff changeset
   431
                (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   432
        EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   433
               slave->eeprom_size, slave->ring_position);
734
8c9d62f7c2cd Minor fix: Set eeprom_size to 0 on unsuccessful memory allocation.
Florian Pose <fp@igh-essen.com>
parents: 731
diff changeset
   434
        slave->eeprom_size = 0;
8c9d62f7c2cd Minor fix: Set eeprom_size to 0 on unsuccessful memory allocation.
Florian Pose <fp@igh-essen.com>
parents: 731
diff changeset
   435
        slave->error_flag = 1;
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
   436
        fsm->state = ec_fsm_slave_state_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   437
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   438
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   439
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   440
    // Start fetching EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   441
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
   442
    fsm->state = ec_fsm_slave_scan_state_eeprom_data;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   443
    fsm->sii_offset = 0x0000;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   444
    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   445
    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   451
   Slave scan state: EEPROM DATA.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   452
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   453
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
void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   455
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   456
    ec_slave_t *slave = fsm->slave;
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   457
    uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   458
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   459
    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
   460
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   461
    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
   462
        fsm->slave->error_flag = 1;
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
   463
        fsm->state = ec_fsm_slave_state_error;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   464
        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   465
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   469
    // 2 words fetched
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   470
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   471
    if (fsm->sii_offset + 2 <= eeprom_word_size) { // 2 words fit
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   472
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   473
               fsm->fsm_sii.value, 4);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   474
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   475
    else { // copy the last word
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   476
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   477
               fsm->fsm_sii.value, 2);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   478
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   479
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   480
    if (fsm->sii_offset + 2 < eeprom_word_size) {
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   481
        // fetch the next 2 words
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   482
        fsm->sii_offset += 2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   483
        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   484
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   485
        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   486
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   487
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   488
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   489
    // Evaluate EEPROM contents
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   490
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   491
    slave->sii_alias =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   492
        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   493
    slave->sii_vendor_id =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   494
        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   495
    slave->sii_product_code =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   496
        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   497
    slave->sii_revision_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   498
        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   499
    slave->sii_serial_number =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   500
        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   501
    slave->sii_rx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   502
        EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   503
    slave->sii_rx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   504
        EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   505
    slave->sii_tx_mailbox_offset =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   506
        EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   507
    slave->sii_tx_mailbox_size =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   508
        EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   509
    slave->sii_mailbox_protocols =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   510
        EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   511
771
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   512
    if (eeprom_word_size == EC_FIRST_EEPROM_CATEGORY_OFFSET) {
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   513
        // eeprom does not contain category data
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   514
        fsm->state = ec_fsm_slave_state_end;
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   515
        return;
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   516
    }
9946a675f86e Cut off category data on exceeding eeprom size limit.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   517
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   518
    if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   519
        EC_ERR("Unexpected end of EEPROM data in slave %u:"
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   520
                " First category header missing.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   521
                slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   522
        goto end;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   523
    }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   524
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   525
    // evaluate category data
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   526
    cat_word =
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   527
        (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   528
    while (EC_READ_U16(cat_word) != 0xFFFF) {
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   529
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   530
        // type and size words must fit
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   531
        if (cat_word + 2 - (uint16_t *) slave->eeprom_data
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   532
                > eeprom_word_size) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   533
            EC_ERR("Unexpected end of EEPROM data in slave %u:"
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   534
                    " Category header incomplete.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   535
                    slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   536
            goto end;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   537
        }
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   538
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   539
        cat_type = EC_READ_U16(cat_word) & 0x7FFF;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   540
        cat_size = EC_READ_U16(cat_word + 1);
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   541
        cat_word += 2;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   542
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   543
        if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   544
                > eeprom_word_size) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   545
            EC_WARN("Unexpected end of EEPROM data in slave %u:"
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   546
                    " Category data incomplete.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   547
                    slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   548
            goto end;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   549
        }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   550
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   551
        switch (cat_type) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   552
            case 0x000A:
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   553
                if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   554
                            cat_size * 2))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   555
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   556
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   557
            case 0x001E:
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   558
                if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   559
                            cat_size * 2))
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   560
                    goto end;
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   561
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   562
            case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   563
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   564
            case 0x0029:
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   565
                if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   566
                            cat_size * 2))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   567
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   568
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   569
            case 0x0032:
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   570
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   571
                            cat_size * 2, EC_DIR_INPUT)) // TxPdo
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   572
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   573
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   574
            case 0x0033:
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   575
                if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   576
                            cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   577
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   578
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   579
            default:
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
   580
                if (fsm->slave->master->debug_level)
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   581
                    EC_WARN("Unknown category type 0x%04X in slave %i.\n",
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   582
                            cat_type, slave->ring_position);
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   583
        }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   584
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   585
        cat_word += cat_size;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   586
        if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
744
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   587
            EC_WARN("Unexpected end of EEPROM data in slave %u:"
b83392e8cd66 Fixed detection of missing EEPROM category limiter.
Florian Pose <fp@igh-essen.com>
parents: 742
diff changeset
   588
                    " Next category header missing.\n",
742
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   589
                    slave->ring_position);
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   590
            goto end;
03d2fe3d4a93 Improved checking of EEPROM data while reading.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   591
        }
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   592
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   593
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
   594
    fsm->state = ec_fsm_slave_state_end;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   595
    return;
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   596
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   597
end:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   598
    EC_ERR("Failed to analyze category data.\n");
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   599
    fsm->slave->error_flag = 1;
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
   600
    fsm->state = ec_fsm_slave_state_error;
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   601
}
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   602
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   603
/******************************************************************************
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   604
 *  slave configuration state machine
308
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   605
 *****************************************************************************/
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   606
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   607
/**
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
   608
   Slave configuration state: START.
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
   609
*/
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
   610
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
   611
void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *fsm /**< 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
   612
{
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
   613
    if (fsm->slave->master->debug_level) {
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
   614
        EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
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
   615
    }
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
   616
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
   617
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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
   618
    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
   619
    fsm->state = ec_fsm_slave_conf_state_init;
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
   620
}
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
   621
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
   622
/*****************************************************************************/
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
   623
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
   624
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   625
   Slave configuration state: INIT.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   626
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   627
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
   628
void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *fsm /**< 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
   629
{
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
   630
    ec_master_t *master = fsm->slave->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
   631
    ec_slave_t *slave = fsm->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
   632
    ec_datagram_t *datagram = fsm->datagram;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   633
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   634
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   635
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   636
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
   637
        if (!fsm->fsm_change.spontaneous_change)
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
   638
            slave->error_flag = 1;
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
   639
        fsm->state = ec_fsm_slave_state_error;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   640
        return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   641
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   642
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   643
    slave->self_configured = 1;
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   644
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   645
    if (master->debug_level) {
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   646
        EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   647
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   648
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   649
    // check and reset CRC fault counters
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   650
    //ec_slave_check_crc(slave);
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   651
    // TODO: Implement state machine for CRC checking.
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   652
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   653
    if (!slave->base_fmmu_count) { // skip FMMU configuration
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   654
        ec_fsm_slave_conf_enter_mbox_sync(fsm);
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   655
        return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   656
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   657
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   658
    if (master->debug_level)
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   659
        EC_DBG("Clearing FMMU configurations of slave %i...\n",
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   660
               slave->ring_position);
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   661
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   662
    // clear FMMU configurations
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   663
    ec_datagram_npwr(datagram, slave->station_address,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   664
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   665
    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   666
    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
   667
    fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   668
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   669
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   670
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   671
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   672
/**
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   673
   Slave configuration state: CLEAR FMMU.
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   674
*/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   675
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
   676
void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_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
   677
                                        /**< 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
   678
{
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
    ec_datagram_t *datagram = fsm->datagram;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   680
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   681
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   682
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   683
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   684
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
   685
        fsm->state = ec_fsm_slave_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   686
        EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   687
               fsm->slave->ring_position);
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   688
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   689
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   690
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   691
    if (datagram->working_counter != 1) {
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   692
        fsm->slave->error_flag = 1;
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
   693
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   694
        EC_ERR("Failed to clear FMMUs of slave %i: ",
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   695
               fsm->slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   696
        ec_datagram_print_wc_error(datagram);
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   697
        return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   698
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   699
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   700
    ec_fsm_slave_conf_enter_mbox_sync(fsm);
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   701
}
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   702
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   703
/*****************************************************************************/
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   704
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   705
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
   706
 * Check for mailbox sync managers to be configured.
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   707
 */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   708
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   709
void ec_fsm_slave_conf_enter_mbox_sync(
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   710
        ec_fsm_slave_t *fsm /**< slave state machine */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   711
        )
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
   712
{
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
   713
    ec_master_t *master = fsm->slave->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
   714
    ec_slave_t *slave = fsm->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
   715
    ec_datagram_t *datagram = fsm->datagram;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   716
    unsigned int i;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   717
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   718
    // slave is now in INIT
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   719
    if (slave->current_state == slave->requested_state) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   720
        fsm->state = ec_fsm_slave_state_end; // successful
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   721
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   722
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   723
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   724
        }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   725
        return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   726
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   727
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   728
    if (!slave->sii_mailbox_protocols) {
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   729
        // no mailbox protocols supported
731
b13ef712a2d7 Debug statement, if slave does not support mailboxing.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   730
        if (master->debug_level)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   731
            EC_DBG("Slave %u does not support mailbox communication.\n",
731
b13ef712a2d7 Debug statement, if slave does not support mailboxing.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   732
                    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
   733
        ec_fsm_slave_conf_enter_preop(fsm);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   734
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   735
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   736
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   737
    if (master->debug_level) {
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   738
        EC_DBG("Configuring mailbox sync managers of slave %i.\n",
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   739
               slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   740
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   741
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   742
    if (slave->sii_sync_count >= 2) { // mailbox configuration provided
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   743
        ec_datagram_npwr(datagram, slave->station_address, 0x0800,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   744
                EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   745
        memset(datagram->data, 0x00,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   746
                EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   747
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   748
        for (i = 0; i < 2; i++) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   749
            ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   750
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   751
        }
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   752
    } else { // no mailbox sync manager configurations provided
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   753
        ec_sync_t sync;
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   754
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   755
        if (master->debug_level)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   756
            EC_DBG("Slave %u does not provide"
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   757
                    " mailbox sync manager configurations.\n",
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   758
                    slave->ring_position);
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   759
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   760
        ec_datagram_npwr(datagram, slave->station_address, 0x0800,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   761
                EC_SYNC_PAGE_SIZE * 2);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   762
        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   763
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   764
        ec_sync_init(&sync, slave, 0);
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   765
        sync.physical_start_address = slave->sii_rx_mailbox_offset;
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   766
        sync.control_register = 0x26;
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   767
        sync.enable = 1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   768
        ec_sync_config(&sync, slave->sii_rx_mailbox_size,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   769
                datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   770
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   771
        ec_sync_init(&sync, slave, 1);
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   772
        sync.physical_start_address = slave->sii_tx_mailbox_offset;
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   773
        sync.control_register = 0x22;
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
Florian Pose <fp@igh-essen.com>
parents: 734
diff changeset
   774
        sync.enable = 1;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   775
        ec_sync_config(&sync, slave->sii_tx_mailbox_size,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   776
                datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   777
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   778
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   779
    fsm->retries = EC_FSM_RETRIES;
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   780
    fsm->state = ec_fsm_slave_conf_state_mbox_sync;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   781
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   782
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   783
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   784
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   785
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   786
   Slave configuration state: SYNC.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   787
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   788
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   789
void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   790
{
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
   791
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   792
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   793
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   794
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   795
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   796
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   797
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
   798
        fsm->state = ec_fsm_slave_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   799
        EC_ERR("Failed to receive sync manager configuration datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
   800
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
   801
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   802
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   803
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   804
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   805
    if (datagram->working_counter != 1) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   806
        slave->error_flag = 1;
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
   807
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   808
        EC_ERR("Failed to set sync managers of slave %i: ",
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   809
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   810
        ec_datagram_print_wc_error(datagram);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   811
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   812
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   813
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
    ec_fsm_slave_conf_enter_preop(fsm);
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   815
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   816
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   817
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   818
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   819
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
   820
 * Request PREOP state.
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   821
 */
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   822
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   823
void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< 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
   824
{
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
   825
    fsm->state = ec_fsm_slave_conf_state_preop;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   826
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   827
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   828
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   829
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   830
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   831
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   832
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   833
   Slave configuration state: PREOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   834
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   835
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
   836
void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< 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
   837
{
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
   838
    ec_slave_t *slave = fsm->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
   839
    ec_master_t *master = fsm->slave->master;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   840
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   841
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   842
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   843
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
   844
        if (!fsm->fsm_change.spontaneous_change)
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
   845
            slave->error_flag = 1;
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
   846
        fsm->state = ec_fsm_slave_state_error;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   847
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   848
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   849
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   850
    // slave is now in PREOP
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
   851
    slave->jiffies_preop = fsm->datagram->jiffies_received;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   852
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   853
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   854
        EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   855
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   856
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   857
    if (slave->current_state == slave->requested_state) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   858
        fsm->state = ec_fsm_slave_state_end; // successful
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   859
        if (master->debug_level) {
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   860
            EC_DBG("Finished configuration of slave %i.\n",
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   861
                   slave->ring_position);
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   862
        }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   863
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   864
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   865
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   866
    ec_fsm_slave_conf_enter_sdo_conf(fsm);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   867
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   868
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   869
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   870
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   871
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
   872
 * Check for SDO configurations to be applied.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   873
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   874
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   875
void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *fsm /**< slave state machine */)
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   876
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   877
    ec_slave_t *slave = fsm->slave;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   878
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   879
    if (!slave->config) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   880
        EC_DBG("Slave %u is not configured.\n", slave->ring_position);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   881
        ec_fsm_slave_conf_enter_saveop(fsm);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   882
        return;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   883
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   884
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   885
    // No CoE configuration to be applied?
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   886
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   887
        ec_fsm_slave_conf_enter_mapping(fsm);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   888
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   889
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   890
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   891
    // start SDO configuration
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   892
    fsm->state = ec_fsm_slave_conf_state_sdo_conf;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   893
    fsm->sdodata =
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   894
        list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   895
    ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   896
    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   897
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   898
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   899
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   900
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   901
/**
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   902
   Slave configuration state: SDO_CONF.
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   903
*/
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   904
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   905
void ec_fsm_slave_conf_state_sdo_conf(
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   906
        ec_fsm_slave_t *fsm /**< slave state machine */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   907
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   908
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   909
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   910
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   911
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   912
        EC_ERR("SDO configuration failed for slave %u.\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   913
                fsm->slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   914
        fsm->slave->error_flag = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   915
        fsm->state = ec_fsm_slave_state_error;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   916
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   917
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   918
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   919
    // Another SDO to configure?
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   920
    if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   921
        fsm->sdodata =
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
   922
            list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   923
        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   924
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   925
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   926
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   927
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   928
    // All SDOs are now configured.
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   929
    ec_fsm_slave_conf_enter_mapping(fsm);
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   930
}
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   931
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   932
/*****************************************************************************/
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   933
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   934
/**
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   935
 * Check for PDO mappings to be applied.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   936
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   937
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   938
void ec_fsm_slave_conf_enter_mapping(
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   939
        ec_fsm_slave_t *fsm /**< slave state machine */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   940
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   941
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   942
    // start configuring PDO mapping
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   943
    fsm->state = ec_fsm_slave_conf_state_mapping;
802
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   944
    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   945
    ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   946
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   947
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   948
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   949
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   950
/**
795
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   951
   Slave configuration state: MAPPING.
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   952
*/
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   953
c695e53940d4 Renamed a few configuration states.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   954
void ec_fsm_slave_conf_state_mapping(
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   955
        ec_fsm_slave_t *fsm /**< slave state machine */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   956
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   957
{
802
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   958
    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   959
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   960
    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   961
        EC_ERR("PDO mapping configuration failed for slave %u.\n",
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   962
                fsm->slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   963
        fsm->slave->error_flag = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   964
        fsm->state = ec_fsm_slave_state_error;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   965
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   966
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   967
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   968
    // Start Pdo configuration
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   969
    fsm->state = ec_fsm_slave_conf_state_pdo_conf;
802
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   970
    ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   971
    ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   972
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   973
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   974
/*****************************************************************************/
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   975
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   976
/**
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   977
   Slave configuration state: PDO_CONF.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   978
*/
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   979
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   980
void ec_fsm_slave_conf_state_pdo_conf(
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   981
        ec_fsm_slave_t *fsm /**< slave state machine */
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   982
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   983
{
802
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   984
    if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   985
b947d0b09f9a Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents: 799
diff changeset
   986
    if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   987
        EC_ERR("Pdo configuration failed for slave %u.\n",
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   988
                fsm->slave->ring_position);
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   989
        fsm->slave->error_flag = 1;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   990
        fsm->state = ec_fsm_slave_state_error;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   991
        return;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   992
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents: 795
diff changeset
   993
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   994
    ec_fsm_slave_conf_enter_pdo_sync(fsm);
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   995
}
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   996
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   997
/*****************************************************************************/
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   998
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   999
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
  1000
 * Check for PDO sync managers to be configured.
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
  1001
 */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
  1002
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
  1003
void ec_fsm_slave_conf_enter_pdo_sync(
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
  1004
        ec_fsm_slave_t *fsm /**< slave state machine */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
  1005
        )
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
  1006
{
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
  1007
    ec_slave_t *slave = fsm->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
  1008
    ec_datagram_t *datagram = fsm->datagram;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1009
    unsigned int i, offset, num_syncs;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1010
    const ec_sync_t *sync;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1011
    ec_direction_t dir;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1012
    uint16_t size;
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
  1013
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
  1014
    if (!slave->sii_sync_count) {
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
  1015
        ec_fsm_slave_conf_enter_fmmu(fsm);
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1016
        return;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1017
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1018
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1019
    if (slave->sii_mailbox_protocols) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1020
        offset = 2; // slave has mailboxes
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1021
    } else {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1022
        offset = 0;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1023
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1024
    num_syncs = slave->sii_sync_count - offset;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1025
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1026
    // configure sync managers for process data
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1027
    ec_datagram_npwr(datagram, slave->station_address,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1028
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1029
            EC_SYNC_PAGE_SIZE * num_syncs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1030
    memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1031
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1032
    for (i = 0; i < num_syncs; i++) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1033
        sync = &slave->sii_syncs[i + offset];
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1034
        dir = ec_sync_direction(sync);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1035
        size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1036
        ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1037
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1038
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1039
    fsm->retries = EC_FSM_RETRIES;
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
  1040
    fsm->state = ec_fsm_slave_conf_state_pdo_sync;
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1041
}
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1042
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1043
/*****************************************************************************/
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1044
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1045
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
  1046
 * Configure PDO sync managers.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
  1047
 */
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1048
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
  1049
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1050
{
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
  1051
    ec_datagram_t *datagram = fsm->datagram;
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1052
    ec_slave_t *slave = fsm->slave;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1053
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1054
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1055
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1056
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1057
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
  1058
        fsm->state = ec_fsm_slave_state_error;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1059
        EC_ERR("Failed to receive process data sync manager configuration"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
  1060
               " datagram for slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
  1061
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1062
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1063
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1064
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1065
    if (datagram->working_counter != 1) {
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1066
        slave->error_flag = 1;
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
  1067
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1068
        EC_ERR("Failed to set process data sync managers of slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1069
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1070
        ec_datagram_print_wc_error(datagram);
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1071
        return;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1072
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1073
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
  1074
    ec_fsm_slave_conf_enter_fmmu(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
  1075
}
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
  1076
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
  1077
/*****************************************************************************/
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
  1078
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
  1079
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
  1080
 * Check for FMMUs to be configured.
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
  1081
 */
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
  1082
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
  1083
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1084
{
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1085
    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
  1086
    ec_datagram_t *datagram = fsm->datagram;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1087
    unsigned int i;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1088
    const ec_fmmu_config_t *fmmu;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1089
    const ec_sync_t *sync;
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
  1090
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1091
    if (!slave->base_fmmu_count) { // skip FMMU configuration
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
  1092
        ec_fsm_slave_conf_enter_saveop(fsm);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1093
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1094
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1095
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1096
    // configure FMMUs
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1097
    ec_datagram_npwr(datagram, slave->station_address,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1098
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1099
    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1100
    for (i = 0; i < slave->config->used_fmmus; i++) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1101
        fmmu = &slave->config->fmmu_configs[i];
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1102
        if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1103
            fsm->state = ec_fsm_slave_state_error;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1104
            EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1105
                    " %u!\n", slave->ring_position);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1106
            return;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1107
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1108
        ec_fmmu_config_page(fmmu, sync,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 771
diff changeset
  1109
                datagram->data + EC_FMMU_PAGE_SIZE * i);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1110
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
  1111
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1112
    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
  1113
    fsm->state = ec_fsm_slave_conf_state_fmmu;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1114
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1115
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1116
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1117
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1118
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1119
   Slave configuration state: FMMU.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1120
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1121
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
  1122
void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< 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
  1123
{
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
  1124
    ec_datagram_t *datagram = fsm->datagram;
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
  1125
    ec_slave_t *slave = fsm->slave;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1126
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1127
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1128
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1129
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1130
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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
  1131
        fsm->state = ec_fsm_slave_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
  1132
        EC_ERR("Failed to receive FMMUs datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 556
diff changeset
  1133
                " (datagram state %i).\n",
615
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1134
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1135
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1136
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1137
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1138
    if (datagram->working_counter != 1) {
615
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1139
        slave->error_flag = 1;
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
  1140
        fsm->state = ec_fsm_slave_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1141
        EC_ERR("Failed to set FMMUs of slave %i: ",
615
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1142
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1143
        ec_datagram_print_wc_error(datagram);
615
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1144
        return;
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1145
    }
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1146
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
  1147
    ec_fsm_slave_conf_enter_saveop(fsm);
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1148
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1149
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1150
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1151
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1152
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 744
diff changeset
  1153
 * Request SAVEOP state.
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1154
 */
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1155
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
  1156
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< 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
  1157
{
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
  1158
    fsm->state = ec_fsm_slave_conf_state_saveop;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
  1159
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1160
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1161
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1162
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1163
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1164
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1165
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1166
   Slave configuration state: SAVEOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1167
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1168
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
  1169
void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< 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
  1170
{
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
  1171
    ec_master_t *master = fsm->slave->master;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1172
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1173
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1174
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1175
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1176
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
  1177
        if (!fsm->fsm_change.spontaneous_change)
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
  1178
            fsm->slave->error_flag = 1;
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
  1179
        fsm->state = ec_fsm_slave_state_error;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1180
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1181
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1182
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1183
    // slave is now in SAVEOP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1184
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1185
    if (master->debug_level) {
411
42d239bab6ae Fixed typo.
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1186
        EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1187
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1188
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1189
    if (fsm->slave->current_state == fsm->slave->requested_state) {
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1190
        fsm->state = ec_fsm_slave_state_end; // successful
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1191
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1192
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1193
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1194
        }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1195
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1196
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1197
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1198
    // set state to OP
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
  1199
    fsm->state = ec_fsm_slave_conf_state_op;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 448
diff changeset
  1200
    ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1201
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1202
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1203
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1204
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1205
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1206
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1207
   Slave configuration state: OP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1208
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1209
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
  1210
void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *fsm /**< 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
  1211
{
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
  1212
    ec_master_t *master = fsm->slave->master;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1213
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1214
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1215
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1216
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1217
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
  1218
        if (!fsm->fsm_change.spontaneous_change)
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 737
diff changeset
  1219
            slave->error_flag = 1;
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
  1220
        fsm->state = ec_fsm_slave_state_error;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1221
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1222
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1223
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1224
    // slave is now in OP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1225
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1226
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1227
        EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1228
        EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1229
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1230
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
  1231
    fsm->state = ec_fsm_slave_state_end; // successful
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
/******************************************************************************
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1235
 *  Common state functions
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1236
 *****************************************************************************/
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1237
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1238
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1239
   State: ERROR.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1240
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1241
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
  1242
void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1243
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1244
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1245
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1246
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1247
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1248
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1249
   State: END.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1250
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1251
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
  1252
void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< 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
  1253
{
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
  1254
}
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
  1255
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
  1256
/*****************************************************************************/