master/fsm_slave.c
author Florian Pose <fp@igh-essen.com>
Mon, 17 Sep 2007 10:30:16 +0000
changeset 727 fc533d28c6f8
parent 713 ae41cadd25b6
child 731 b13ef712a2d7
permissions -rw-r--r--
Fixed e1000 driver when NAPI is enabled.
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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 "fsm_slave.h"
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#include "fsm_mapping.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_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_sdoconf(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_state_mapconf(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_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_sdoconf(ec_fsm_slave_t *);
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void ec_fsm_slave_conf_enter_mapconf(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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/**
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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_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_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_mapping_clear(&fsm->fsm_map);
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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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   232
        return;
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   233
    }
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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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   239
}
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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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        )
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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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    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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    }
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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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   291
   Slave scan state: BASE.
310
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   292
*/
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528
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   294
void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)
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{
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   296
    ec_datagram_t *datagram = fsm->datagram;
293
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   297
    ec_slave_t *slave = fsm->slave;
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   298
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   299
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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   300
        return;
505
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   301
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   302
    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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   303
        fsm->state = ec_fsm_slave_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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   304
        EC_ERR("Failed to receive base data datagram for slave %i"
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   305
                " (datagram state %i).\n",
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diff changeset
   306
               slave->ring_position, datagram->state);
505
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   307
        return;
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   308
    }
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   309
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   310
    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
   311
        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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   312
        fsm->state = ec_fsm_slave_state_error;
713
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   313
        EC_ERR("Failed to read base data from slave %i: ",
238
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   314
               slave->ring_position);
713
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   315
        ec_datagram_print_wc_error(datagram);
238
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   316
        return;
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   317
    }
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diff changeset
   318
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   319
    slave->base_type       = EC_READ_U8 (datagram->data);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   320
    slave->base_revision   = EC_READ_U8 (datagram->data + 1);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   321
    slave->base_build      = EC_READ_U16(datagram->data + 2);
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   322
    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
   323
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   324
    if (slave->base_fmmu_count > EC_MAX_FMMUS)
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diff changeset
   325
        slave->base_fmmu_count = EC_MAX_FMMUS;
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diff changeset
   326
b4960499098f Added finite state machine (FSM) processing.
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   327
    // read data link status
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   328
    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   329
    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
   330
    fsm->state = ec_fsm_slave_scan_state_datalink;
310
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diff changeset
   331
}
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   332
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   333
/*****************************************************************************/
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   334
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diff changeset
   335
/**
409
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diff changeset
   336
   Slave scan state: DATALINK.
310
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diff changeset
   337
*/
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diff changeset
   338
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
   339
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
   340
{
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
   341
    ec_datagram_t *datagram = fsm->datagram;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    ec_slave_t *slave = fsm->slave;
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   343
    uint16_t dl_status;
b4960499098f Added finite state machine (FSM) processing.
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diff changeset
   344
    unsigned int i;
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diff changeset
   345
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   346
    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
   347
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 484
diff changeset
   348
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   349
    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
   350
        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
   351
        EC_ERR("Failed to receive DL status datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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parents: 556
diff changeset
   352
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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parents: 556
diff changeset
   353
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   354
        return;
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
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   357
    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
   358
        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
   359
        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
   360
        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
   361
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   362
        ec_datagram_print_wc_error(datagram);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   366
    dl_status = EC_READ_U16(datagram->data);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
    for (i = 0; i < 4; i++) {
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
        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
   369
        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
   370
        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
   371
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   373
    // 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
   374
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   375
    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
   376
    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
   377
    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
   378
    fsm->state(fsm); // execute state immediately
238
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
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   384
   Slave scan state: EEPROM SIZE.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   385
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   386
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
   387
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
   388
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   389
    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
   390
    uint16_t cat_type, cat_size;
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   392
    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
   393
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   394
    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
   395
        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
   396
        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
   397
        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
   398
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   402
    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
   403
    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
   404
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   405
    if (cat_type != 0xFFFF) { // not the last category
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   406
        fsm->sii_offset += cat_size + 2;
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   407
        if (fsm->sii_offset >= EC_MAX_EEPROM_SIZE) {
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   408
            EC_WARN("EEPROM size of slave %i exceeds"
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   409
                    " %i words (0xffff limiter missing?).\n",
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   410
                    slave->ring_position, EC_MAX_EEPROM_SIZE);
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
        }
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   414
        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
   415
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   416
        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
   417
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   418
    }
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
    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
   421
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   422
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
   423
    if (slave->eeprom_data) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   424
        EC_INFO("Freeing old EEPROM data on slave %i...\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   425
                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
   426
        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
   427
    }
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
    if (!(slave->eeprom_data =
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   430
          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
291
0b1f877cf3f1 Slave: state_error -> error_flag, error_flag only in slave state machine.
Florian Pose <fp@igh-essen.com>
parents: 290
diff changeset
   431
        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
   432
        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
   433
        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   434
               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
   435
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   436
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   437
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   438
    // 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
   439
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
   440
    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
   441
    fsm->sii_offset = 0x0000;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   442
    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
   443
    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
   444
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
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
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   449
   Slave scan state: EEPROM DATA.
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   450
*/
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   451
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
   452
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
   453
{
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   454
    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
   455
    uint16_t *cat_word, cat_type, cat_size;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   456
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   457
    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
   458
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   459
    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
   460
        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
   461
        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
   462
        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
   463
               slave->ring_position);
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        return;
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
    }
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   467
    // 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
   468
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   469
    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   470
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   471
               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
   472
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   473
    else { // copy the last word
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   474
        memcpy(slave->eeprom_data + fsm->sii_offset * 2,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   475
               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
   476
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   477
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   478
    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   479
        // 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
   480
        fsm->sii_offset += 2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   481
        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
   482
                        EC_FSM_SII_NODE);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   483
        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
   484
        return;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   485
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   486
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   487
    // 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
   488
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   489
    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
   490
        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
   491
    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
   492
        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
   493
    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
   494
        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
   495
    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
   496
        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
   497
    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
   498
        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
   499
    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
   500
        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
   501
    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
   502
        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
   503
    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
   504
        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
   505
    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
   506
        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
   507
    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
   508
        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
   509
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   510
    // evaluate category data
696
24fac09b5b26 Limited EEPROM reading; added EC_FIRST_EEPROM_CATEGORY_HEADER define.
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   511
    cat_word = (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
   512
    while (EC_READ_U16(cat_word) != 0xFFFF) {
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   513
        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
   514
        cat_size = EC_READ_U16(cat_word + 1);
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   515
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   516
        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
   517
            case 0x000A:
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   518
                if (ec_slave_fetch_sii_strings(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   519
                            slave, (uint8_t *) (cat_word + 2)))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   520
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   521
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   522
            case 0x001E:
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   523
                ec_slave_fetch_sii_general(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   524
                        slave, (uint8_t *) (cat_word + 2));
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   525
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   526
            case 0x0028:
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   527
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   528
            case 0x0029:
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   529
                if (ec_slave_fetch_sii_syncs(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   530
                            slave, (uint8_t *) (cat_word + 2), cat_size))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   531
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   532
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   533
            case 0x0032:
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   534
                if (ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   535
                            slave, (uint8_t *) (cat_word + 2),
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   536
                            cat_size, EC_TX_PDO))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   537
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   538
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   539
            case 0x0033:
620
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   540
                if (ec_slave_fetch_sii_pdos(
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   541
                            slave, (uint8_t *) (cat_word + 2),
4f76acbf54a0 Renamed SII fetching functions (non-functional).
Florian Pose <fp@igh-essen.com>
parents: 618
diff changeset
   542
                            cat_size, EC_RX_PDO))
266
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   543
                    goto end;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   544
                break;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   545
            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
   546
                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
   547
                    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
   548
                            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
   549
        }
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
        cat_word += cat_size + 2;
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   552
    }
0234b0c26c52 Read complete eeprom data from slave and map it into SysFS.
Florian Pose <fp@igh-essen.com>
parents: 262
diff changeset
   553
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
   554
    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
   555
    return;
310
b7e7709fd40e Better slave scan sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 309
diff changeset
   556
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   557
end:
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   558
    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
   559
    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
   560
    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
   561
}
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   562
d50b139c8601 Separated slave scan sub state machine and slave configuration sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 306
diff changeset
   563
/******************************************************************************
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   564
 *  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
   565
 *****************************************************************************/
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   566
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   567
/**
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
   568
   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
   569
*/
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
   570
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
   571
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
   572
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   573
    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
   574
        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
   575
    }
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
   576
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
   577
    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
   578
    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
   579
    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
   580
}
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
   581
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
   582
/*****************************************************************************/
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
   583
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
   584
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   585
   Slave configuration state: INIT.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   586
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   587
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
   588
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
   589
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   590
    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
   591
    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
   592
    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
   593
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   594
    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
   595
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   596
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   597
        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
   598
        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
   599
        return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   600
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   601
523
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   602
    slave->self_configured = 1;
584a4f60b067 Re-added slave.configured flag as slave.self_configured.
Florian Pose <fp@igh-essen.com>
parents: 522
diff changeset
   603
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   604
    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
   605
        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
   606
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   607
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   608
    // 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
   609
    //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
   610
    // 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
   611
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   612
    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
   613
        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
   614
        return;
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   615
    }
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   616
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   617
    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
   618
        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
   619
               slave->ring_position);
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   620
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   621
    // clear FMMU configurations
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   622
    ec_datagram_npwr(datagram, slave->station_address,
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   623
                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   624
    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   625
    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
   626
    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
   627
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   628
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   629
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   630
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   631
/**
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   632
   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
   633
*/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   634
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   635
void ec_fsm_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
   636
                                        /**< 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
   637
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   638
    ec_datagram_t *datagram = fsm->datagram;
462
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   639
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   640
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   641
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   642
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   643
    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
   644
        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
   645
        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
   646
               fsm->slave->ring_position);
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   647
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   648
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   649
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   650
    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
   651
        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
   652
        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
   653
        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
   654
               fsm->slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   655
        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
   656
        return;
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
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   659
    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
   660
}
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   661
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   662
/*****************************************************************************/
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   663
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   664
/**
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   665
 */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   666
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   667
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
   668
        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
   669
        )
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
   670
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   671
    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
   672
    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
   673
    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
   674
    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
   675
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   676
    // 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
   677
    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
   678
        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
   679
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   680
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   681
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   682
        }
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   683
        return;
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   684
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   685
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   686
    if (!slave->sii_mailbox_protocols || slave->sii_sync_count < 2) {
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   687
        // no mailbox sync managers to be configured
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
   688
        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
   689
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   690
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   691
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   692
    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
   693
        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
   694
               slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   695
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   696
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   697
    // configure sync managers
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   698
    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   699
                     EC_SYNC_SIZE * slave->sii_sync_count);
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   700
    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   701
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   702
    for (i = 0; i < 2; i++) {
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   703
        ec_sync_config(&slave->sii_syncs[i],
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   704
                datagram->data + EC_SYNC_SIZE * i);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   705
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   706
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   707
    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
   708
    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
   709
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   710
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   711
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   712
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   713
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   714
   Slave configuration state: SYNC.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   715
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   716
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   717
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
   718
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   719
    ec_datagram_t *datagram = fsm->datagram;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   720
    ec_slave_t *slave = fsm->slave;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   721
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   722
    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
   723
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   724
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   725
    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
   726
        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
   727
        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
   728
               " 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
   729
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   730
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   731
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   732
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   733
    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
   734
        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
   735
        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
   736
        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
   737
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   738
        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
   739
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   740
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   741
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
   742
    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
   743
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   744
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   745
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   746
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   747
/**
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   748
 */
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
   749
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
   750
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
   751
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   752
    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
   753
    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
   754
    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
   755
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   756
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   757
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   758
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   759
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   760
   Slave configuration state: PREOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   761
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   762
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
   763
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
   764
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   765
    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
   766
    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
   767
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   768
    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
   769
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   770
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   771
        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
   772
        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
   773
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   774
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
   775
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   776
    // 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
   777
    slave->jiffies_preop = fsm->datagram->jiffies_received;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   778
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   779
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   780
        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
   781
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   782
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   783
    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
   784
        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
   785
        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
   786
            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
   787
                   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
   788
        }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   789
        return;
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   790
    }
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   791
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   792
    ec_fsm_slave_conf_enter_sdoconf(fsm);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   793
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   794
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   795
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   796
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   797
/**
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   798
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   799
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   800
void ec_fsm_slave_conf_enter_sdoconf(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
   801
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   802
    ec_slave_t *slave = fsm->slave;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   803
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   804
    // No CoE configuration to be applied?
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   805
    if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   806
        ec_fsm_slave_conf_enter_mapconf(fsm);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   807
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   808
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   809
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   810
    // start SDO configuration
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   811
    fsm->state = ec_fsm_slave_conf_state_sdoconf;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   812
    fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   813
    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
   814
    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
   815
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   816
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   817
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   818
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   819
/**
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   820
   Slave configuration state: SDOCONF.
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   821
*/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   822
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   823
void ec_fsm_slave_conf_state_sdoconf(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   824
        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
   825
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   826
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   827
    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
   828
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   829
    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
   830
        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
   831
                fsm->slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   832
        fsm->slave->error_flag = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   833
        fsm->state = ec_fsm_slave_state_error;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   834
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   835
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   836
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   837
    // Another SDO to configure?
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   838
    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   839
        fsm->sdodata = list_entry(fsm->sdodata->list.next,
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   840
                                  ec_sdo_data_t, list);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   841
        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
   842
        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
   843
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   844
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   845
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   846
    // All SDOs are now configured.
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   847
    ec_fsm_slave_conf_enter_mapconf(fsm);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   848
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   849
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   850
/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   851
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   852
/**
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   853
 */
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   854
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   855
void ec_fsm_slave_conf_enter_mapconf(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   856
        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
   857
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   858
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   859
    ec_slave_t *slave = fsm->slave;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   860
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   861
    if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   862
        // Slave does not support CoE: no configuration of PDO mapping.
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   863
        ec_fsm_slave_conf_enter_pdo_sync(fsm);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   864
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   865
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   866
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   867
    // start configuring PDO mapping
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   868
    fsm->state = ec_fsm_slave_conf_state_mapconf;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   869
    ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   870
    ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   871
}
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   872
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
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   875
/**
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   876
   Slave configuration state: MAPCONF.
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   877
*/
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   878
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   879
void ec_fsm_slave_conf_state_mapconf(
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   880
        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
   881
        )
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   882
{
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   883
    if (ec_fsm_mapping_exec(&fsm->fsm_map)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   884
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   885
    if (!ec_fsm_mapping_success(&fsm->fsm_map)) {
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   886
        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
   887
                fsm->slave->ring_position);
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   888
        fsm->slave->error_flag = 1;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   889
        fsm->state = ec_fsm_slave_state_error;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   890
        return;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   891
    }
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   892
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   893
    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
   894
}
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   895
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   896
/*****************************************************************************/
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   897
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   898
/**
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   899
 */
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   900
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   901
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
   902
        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
   903
        )
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
   904
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   905
    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
   906
    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
   907
    unsigned int i;
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   908
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   909
    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
   910
        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
   911
        return;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   912
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   913
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   914
    // configure sync managers for process data
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   915
    ec_datagram_npwr(datagram, slave->station_address, 0x0800,
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   916
                     EC_SYNC_SIZE * slave->sii_sync_count);
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   917
    memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   918
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   919
    for (i = 0; i < slave->sii_sync_count; i++) {
628
e94a16bc52ce Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents: 623
diff changeset
   920
        ec_sync_config(&slave->sii_syncs[i],
618
e4b89c862c43 SII sync managers as array instead of list, removed sync manager
Florian Pose <fp@igh-essen.com>
parents: 615
diff changeset
   921
                datagram->data + EC_SYNC_SIZE * i);
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   922
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   923
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   924
    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
   925
    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
   926
}
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   927
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   928
/*****************************************************************************/
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   929
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   930
/**
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 630
diff changeset
   931
 */
478
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   932
623
4d64368f3a1e Renamed slave configuration states "sync" to "mbox_sync" and "sync2" to
Florian Pose <fp@igh-essen.com>
parents: 620
diff changeset
   933
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
   934
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   935
    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
   936
    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
   937
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   938
    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
   939
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   940
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   941
    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
   942
        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
   943
        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
   944
               " 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
   945
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   946
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   947
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   948
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   949
    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
   950
        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
   951
        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
   952
        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
   953
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   954
        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
   955
        return;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   956
    }
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   957
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
   958
    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
   959
}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   960
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   961
/*****************************************************************************/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   962
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   963
/**
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   964
*/
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   965
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   966
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
   967
{
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   968
    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
   969
    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
   970
    unsigned int j;
322fab6b085b Fix: Configuration of process data sync managers now in PREOP.
Florian Pose <fp@igh-essen.com>
parents: 475
diff changeset
   971
419
cf724fc82a00 Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.
Florian Pose <fp@igh-essen.com>
parents: 411
diff changeset
   972
    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
   973
        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
   974
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   975
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   976
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   977
    // configure FMMUs
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   978
    ec_datagram_npwr(datagram, slave->station_address,
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   979
                     0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   980
    memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   981
    for (j = 0; j < slave->fmmu_count; j++) {
630
1b755b7342eb Layed out FMMU structure and methods to own files.
Florian Pose <fp@igh-essen.com>
parents: 628
diff changeset
   982
        ec_fmmu_config(&slave->fmmus[j], datagram->data + EC_FMMU_SIZE * j);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   983
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 292
diff changeset
   984
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
   985
    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
   986
    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
   987
}
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   988
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   989
/*****************************************************************************/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   990
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   991
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
   992
   Slave configuration state: FMMU.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   993
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   994
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
   995
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
   996
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
   997
    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
   998
    ec_slave_t *slave = fsm->slave;
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
   999
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
  1000
    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
  1001
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1002
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1003
    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
  1004
        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
  1005
        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
  1006
                " (datagram state %i).\n",
615
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1007
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1008
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1009
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1010
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 484
diff changeset
  1011
    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
  1012
        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
  1013
        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
  1014
        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
  1015
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
  1016
        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
  1017
        return;
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1018
    }
cde783147040 Removed unnecessary edge in slave configuration FSM graph.
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1019
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
  1020
    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
  1021
}
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1022
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1023
/*****************************************************************************/
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1024
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1025
/**
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1026
 */
e6fac0c8bc92 New state in slaveconf FSM: Clear FMMU configurations after INIT.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1027
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
  1028
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
  1029
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1030
    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
  1031
    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
  1032
    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
  1033
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1034
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1035
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1036
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1037
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1038
   Slave configuration state: SAVEOP.
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1039
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1040
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
  1041
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
  1042
{
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1043
    ec_master_t *master = fsm->slave->master;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1044
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1045
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1046
    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
  1047
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1048
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
292
2cf6ae0a2419 Minor changes in fsm.c and slave.c
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1049
        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
  1050
        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
  1051
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1052
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1053
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1054
    // slave is now in SAVEOP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1055
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1056
    if (master->debug_level) {
411
42d239bab6ae Fixed typo.
Florian Pose <fp@igh-essen.com>
parents: 409
diff changeset
  1057
        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
  1058
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1059
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1060
    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
  1061
        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
  1062
        if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1063
            EC_DBG("Finished configuration of slave %i.\n",
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1064
                   slave->ring_position);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1065
        }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1066
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1067
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1068
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1069
    // 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
  1070
    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
  1071
    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
  1072
    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
  1073
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1074
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1075
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1076
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1077
/**
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1078
   Slave configuration state: OP
309
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1079
*/
42e69cf31495 Better slaveconf sub state machine.
Florian Pose <fp@igh-essen.com>
parents: 308
diff changeset
  1080
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
  1081
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
  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
    ec_master_t *master = fsm->slave->master;
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1084
    ec_slave_t *slave = fsm->slave;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1085
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
  1086
    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
  1087
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
  1088
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1089
        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
  1090
        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
  1091
        return;
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1092
    }
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1093
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1094
    // slave is now in OP
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1095
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1096
    if (master->debug_level) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1097
        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
  1098
        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
  1099
    }
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 407
diff changeset
  1100
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
  1101
    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
  1102
}
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1103
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
/******************************************************************************
329
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1105
 *  Common state functions
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
  1106
 *****************************************************************************/
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1107
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 275
diff changeset
  1108
/**
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1109
   State: ERROR.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1110
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1111
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
  1112
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
  1113
{
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1114
}
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1115
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1116
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1117
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1118
/**
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1119
   State: END.
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
diff changeset
  1120
*/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 312
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_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
  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
}
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1125
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 523
diff changeset
  1126
/*****************************************************************************/