master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Wed, 02 Jul 2008 14:06:10 +0000
changeset 1082 ff06c58e269c
parent 1064 5f27403587a8
child 1173 2ec9651a6c89
permissions -rw-r--r--
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Added EC_MAX_SYNC_MANAGERS to ecrt.h.
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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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/** \file
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 *
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 * EtherCAT slave configuration state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_config.h"
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_mapping(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_config_init(
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        ec_fsm_slave_config_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_change_init(&fsm->fsm_change, fsm->datagram);
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_pdo_assign_init(&fsm->fsm_pdo_assign, &fsm->fsm_coe);
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    ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_mapping, &fsm->fsm_coe);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_config_clear(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    // clear sub state machines
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    ec_fsm_change_clear(&fsm->fsm_change);
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_pdo_assign_clear(&fsm->fsm_pdo_assign);
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    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_mapping);
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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_config_start(
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        ec_fsm_slave_config_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_config_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_config_running(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
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{
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    return fsm->state != ec_fsm_slave_config_state_end
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        && fsm->state != ec_fsm_slave_config_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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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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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_slave_config_exec(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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        )
830
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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   145
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   146
        // datagram was not sent or received yet.
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   147
        return ec_fsm_slave_config_running(fsm);
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   148
    }
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    fsm->state(fsm);
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   151
    return ec_fsm_slave_config_running(fsm);
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   152
}
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/*****************************************************************************/
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/**
1064
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 * \return true, if the state machine terminated gracefully
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   158
 */
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   159
int ec_fsm_slave_config_success(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   161
        )
830
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{
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    return fsm->state == ec_fsm_slave_config_state_end;
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   164
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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/** Slave configuration state: START.
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   171
 */
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void ec_fsm_slave_config_state_start(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   174
        )
830
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{
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    if (fsm->slave->master->debug_level) {
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        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
830
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   178
    }
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    // configuration will be done immediately; therefore reset the
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    // force flag
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    fsm->slave->force_config = 0;
830
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   184
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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   185
    ec_fsm_change_exec(&fsm->fsm_change);
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   186
    fsm->state = ec_fsm_slave_config_state_init;
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   187
}
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   188
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/*****************************************************************************/
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   190
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   191
/** Slave configuration state: INIT.
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   192
 */
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   193
void ec_fsm_slave_config_state_init(
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   194
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   195
        )
830
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   196
{
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   197
    ec_master_t *master = fsm->slave->master;
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   198
    ec_slave_t *slave = fsm->slave;
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   199
    ec_datagram_t *datagram = fsm->datagram;
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   200
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   201
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
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   202
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   203
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
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   204
        if (!fsm->fsm_change.spontaneous_change)
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   205
            slave->error_flag = 1;
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   206
        fsm->state = ec_fsm_slave_config_state_error;
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   207
        return;
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   208
    }
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   209
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   210
    if (master->debug_level) {
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   211
        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830
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   212
    }
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   213
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   214
    if (!slave->base_fmmu_count) { // skip FMMU configuration
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   215
        ec_fsm_slave_config_enter_mbox_sync(fsm);
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   216
        return;
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   217
    }
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   218
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   219
    if (master->debug_level)
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   220
        EC_DBG("Clearing FMMU configurations of slave %u...\n",
830
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parents:
diff changeset
   221
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
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diff changeset
   222
d83d92e1a919 Separated slave state machines.
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   223
    // clear FMMU configurations
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   224
    ec_datagram_fpwr(datagram, slave->station_address,
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parents:
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   225
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
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parents:
diff changeset
   226
    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
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   227
    fsm->retries = EC_FSM_RETRIES;
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   228
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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   229
}
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   230
d83d92e1a919 Separated slave state machines.
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   231
/*****************************************************************************/
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   232
1064
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   233
/** Slave configuration state: CLEAR FMMU.
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   234
 */
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   235
void ec_fsm_slave_config_state_clear_fmmus(
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   236
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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diff changeset
   237
        )
830
d83d92e1a919 Separated slave state machines.
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diff changeset
   238
{
d83d92e1a919 Separated slave state machines.
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diff changeset
   239
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   240
d83d92e1a919 Separated slave state machines.
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   241
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   242
        return;
d83d92e1a919 Separated slave state machines.
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diff changeset
   243
d83d92e1a919 Separated slave state machines.
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   244
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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diff changeset
   245
        fsm->state = ec_fsm_slave_config_state_error;
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   246
        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   247
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
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   248
        return;
d83d92e1a919 Separated slave state machines.
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diff changeset
   249
    }
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diff changeset
   250
d83d92e1a919 Separated slave state machines.
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diff changeset
   251
    if (datagram->working_counter != 1) {
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diff changeset
   252
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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diff changeset
   253
        fsm->state = ec_fsm_slave_config_state_error;
986
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diff changeset
   254
        EC_ERR("Failed to clear FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   256
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   257
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   258
    }
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diff changeset
   259
d83d92e1a919 Separated slave state machines.
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   260
    ec_fsm_slave_config_enter_mbox_sync(fsm);
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diff changeset
   261
}
d83d92e1a919 Separated slave state machines.
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   262
d83d92e1a919 Separated slave state machines.
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   263
/*****************************************************************************/
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diff changeset
   264
1064
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   265
/** Check for mailbox sync managers to be configured.
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   266
 */
830
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   267
void ec_fsm_slave_config_enter_mbox_sync(
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parents:
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   268
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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parents:
diff changeset
   269
        )
d83d92e1a919 Separated slave state machines.
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   270
{
d83d92e1a919 Separated slave state machines.
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   271
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
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parents:
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   272
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   273
    ec_datagram_t *datagram = fsm->datagram;
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parents:
diff changeset
   274
    unsigned int i;
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parents:
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   275
d83d92e1a919 Separated slave state machines.
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   276
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   277
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   278
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   280
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   281
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   286
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
        // no mailbox protocols supported
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
            EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
        ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   296
        EC_DBG("Configuring mailbox sync managers of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   300
    if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   302
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
        memset(datagram->data, 0x00,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   304
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
        for (i = 0; i < 2; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   307
            ec_sync_page(&slave->sii.syncs[i], i,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   308
                    slave->sii.syncs[i].default_length,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   309
                    EC_DIR_INVALID, // use default direction
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
            EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
                    " mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
                EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   324
        ec_sync_init(&sync, slave);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   325
        sync.physical_start_address = slave->sii.rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
        sync.enable = 1;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   328
        ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   329
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   330
                datagram->data);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   331
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   332
        ec_sync_init(&sync, slave);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   333
        sync.physical_start_address = slave->sii.tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
        sync.enable = 1;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   336
        ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   337
                EC_DIR_INVALID, // use default direction
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   338
                datagram->data + EC_SYNC_PAGE_SIZE);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   347
/** Slave configuration state: SYNC.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   348
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   349
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   350
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   351
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
        EC_ERR("Failed to receive sync manager configuration datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   362
               " slave %u (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   370
        EC_ERR("Failed to set sync managers of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
    ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   381
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   382
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   383
void ec_fsm_slave_config_enter_preop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   384
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   385
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
    fsm->state = ec_fsm_slave_config_state_preop;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   394
/** Slave configuration state: PREOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   395
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   396
void ec_fsm_slave_config_state_preop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   397
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   398
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
    // slave is now in PREOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   416
        EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        if (master->debug_level) {
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   422
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
    if (!slave->config) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
        EC_DBG("Slave %u is not configured.\n", slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
        ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   434
    ec_fsm_slave_config_enter_sdo_conf(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   435
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   436
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   437
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   438
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   439
/** Check for Sdo configurations to be applied.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   440
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   441
void ec_fsm_slave_config_enter_sdo_conf(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   442
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   443
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   444
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   445
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   446
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
    // No CoE configuration to be applied?
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   449
        ec_fsm_slave_config_enter_pdo_sync(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    // start Sdo configuration
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    fsm->state = ec_fsm_slave_config_state_sdo_conf;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   455
    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   456
            ec_sdo_request_t, list);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   457
    ecrt_sdo_request_write(fsm->request);
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   458
    ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   464
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   465
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
        EC_ERR("Sdo configuration failed for slave %u.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
                fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
    // Another Sdo to configure?
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   481
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   482
        fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   483
                list);
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   484
        ecrt_sdo_request_write(fsm->request);
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   485
        ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
    // All Sdos are now configured.
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   491
    ec_fsm_slave_config_enter_pdo_sync(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   492
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   493
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   494
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   495
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   496
/** Check for Pdo sync managers to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   497
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   498
void ec_fsm_slave_config_enter_pdo_sync(
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   499
        ec_fsm_slave_config_t *fsm /**< slave state machine */
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   500
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   501
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   502
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   503
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   504
    unsigned int i, offset, num_pdo_syncs;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   505
    uint8_t sync_index;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   506
    const ec_sync_t *sync;
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   507
    const ec_sync_config_t *sync_config;
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   508
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   509
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   510
    if (slave->sii.mailbox_protocols) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   511
        offset = 2; // slave has mailboxes
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   512
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   513
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   514
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   515
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   516
    if (slave->sii.sync_count <= offset) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   517
        // no Pdo sync managers to configure
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   518
        ec_fsm_slave_config_enter_safeop(fsm);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   519
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   520
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   521
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   522
    num_pdo_syncs = slave->sii.sync_count - offset;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   523
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   524
    // configure sync managers for process data
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   525
    ec_datagram_fpwr(datagram, slave->station_address,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   526
            0x0800 + EC_SYNC_PAGE_SIZE * offset,
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   527
            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   528
    memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   529
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   530
    for (i = 0; i < num_pdo_syncs; i++) {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   531
        sync_index = i + offset;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   532
        sync = &slave->sii.syncs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   533
        sync_config = &slave->config->sync_configs[sync_index];
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   534
        size = ec_pdo_list_total_size(&sync_config->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   535
        ec_sync_page(sync, sync_index, size, sync_config->dir,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   536
                datagram->data + EC_SYNC_PAGE_SIZE * i);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   537
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   538
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   539
    fsm->retries = EC_FSM_RETRIES;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   540
    fsm->state = ec_fsm_slave_config_state_pdo_sync;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   541
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   542
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   543
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   544
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   545
/** Configure Pdo sync managers.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   546
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   547
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   548
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   549
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   550
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   551
    ec_datagram_t *datagram = fsm->datagram;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   552
    ec_slave_t *slave = fsm->slave;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   553
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   554
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   555
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   556
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   557
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   558
        fsm->state = ec_fsm_slave_config_state_error;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   559
        EC_ERR("Failed to receive process data sync manager configuration"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   560
               " datagram for slave %u (datagram state %u).\n",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   561
               slave->ring_position, datagram->state);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   562
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   563
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   564
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   565
    if (datagram->working_counter != 1) {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   566
        slave->error_flag = 1;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   567
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   568
        EC_ERR("Failed to set process data sync managers of slave %u: ",
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   569
                slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   570
        ec_datagram_print_wc_error(datagram);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   571
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   572
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   573
889
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   574
    // Start configuring Pdo mapping
891
fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to
Florian Pose <fp@igh-essen.com>
parents: 889
diff changeset
   575
    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
889
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   576
    fsm->state = ec_fsm_slave_config_state_pdo_mapping;
891
fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to
Florian Pose <fp@igh-essen.com>
parents: 889
diff changeset
   577
    fsm->state(fsm); // execute immediately
889
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   578
}
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   579
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   580
/*****************************************************************************/
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   581
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   582
/** Slave configuration state: PDO_MAPPING.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   583
 */
889
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   584
void ec_fsm_slave_config_state_pdo_mapping(
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
{
889
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   588
    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   589
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   590
    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   591
        EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   592
                fsm->slave->ring_position);
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   593
        fsm->slave->error_flag = 1;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   594
        fsm->state = ec_fsm_slave_config_state_error;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   595
        return;
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   596
    }
661b61ca86ed Moved configuration of Pdo mapping before Pdo assignment.
Florian Pose <fp@igh-essen.com>
parents: 888
diff changeset
   597
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   598
    // start applying alternate Pdo assignments
891
fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to
Florian Pose <fp@igh-essen.com>
parents: 889
diff changeset
   599
    ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   600
    fsm->state = ec_fsm_slave_config_state_pdo_assign;
891
fab139acf3b2 Avoided duplicate datagram, if Pdo mapping/assignment does not have to
Florian Pose <fp@igh-essen.com>
parents: 889
diff changeset
   601
    fsm->state(fsm); // execute immediately
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   602
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   603
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   604
/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   605
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   606
/** Slave configuration state: PDO_ASSIGN.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   607
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   608
void ec_fsm_slave_config_state_pdo_assign(
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
{
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   612
    if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   613
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   614
    if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
   615
        EC_ERR("Pdo assignment failed for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
                fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   620
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   621
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   623
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   627
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   628
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   629
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   630
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   631
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
        EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
                slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
    if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
        ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
        fmmu = &slave->config->fmmu_configs[i];
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   659
        if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
            fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
            EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
                    " %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
            return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   676
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   677
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   678
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   679
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   680
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   690
        EC_ERR("Failed to receive FMMUs datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   691
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   694
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   699
        EC_ERR("Failed to set FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   710
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   711
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   712
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   713
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   714
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
    fsm->state = ec_fsm_slave_config_state_safeop;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
    ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   721
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   723
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   724
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   725
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   726
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   727
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
        if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
    // slave is now in SAFEOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   744
        EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   750
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
    fsm->state = ec_fsm_slave_config_state_op;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
    ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
    ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   764
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   765
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   766
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   767
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   768
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
    if (!ec_fsm_change_success(&fsm->fsm_change)) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
        if (!fsm->fsm_change.spontaneous_change)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   785
        EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   786
        EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   790
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   796
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   797
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   798
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   799
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   800
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   801
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   802
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   803
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   804
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   805
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   806
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   807
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   808
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   809
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   810
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   811
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   812
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   813
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   814
/*****************************************************************************/