master/fsm_slave_config.c
author Florian Pose <fp@igh-essen.com>
Wed, 13 Jan 2010 00:04:47 +0100
branchstable-1.4
changeset 1769 5c317e78a5ef
parent 1686 e206f4485f60
child 1709 63e4bc918640
permissions -rw-r--r--
merge
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the industrial property and similar rights of Beckhoff Automation GmbH.
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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_conf(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_init(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_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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void ec_fsm_slave_config_reconfigure(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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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
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        )
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{
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    ec_sdo_request_init(&fsm->request_copy);
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    fsm->datagram = datagram;
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    fsm->fsm_change = fsm_change;
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    fsm->fsm_coe = fsm_coe;
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    fsm->fsm_pdo = fsm_pdo;
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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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    ec_sdo_request_clear(&fsm->request_copy);
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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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   139
        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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   140
        // datagram was not sent or received yet.
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   141
        return ec_fsm_slave_config_running(fsm);
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   142
    }
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   143
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    fsm->state(fsm);
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   145
    return ec_fsm_slave_config_running(fsm);
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   146
}
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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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 */
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int ec_fsm_slave_config_success(
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        const ec_fsm_slave_config_t *fsm /**< slave state machine */
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   155
        )
830
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{
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    return fsm->state == ec_fsm_slave_config_state_end;
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   158
}
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/******************************************************************************
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 * Slave configuration state machine
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 *****************************************************************************/
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   163
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/** Slave configuration state: START.
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   165
 */
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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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        )
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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   172
    }
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   173
    
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    ec_fsm_slave_config_enter_init(fsm);
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   175
}
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/*****************************************************************************/
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   178
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   179
/** Start state change to INIT.
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   180
 */
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   181
void ec_fsm_slave_config_enter_init(
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        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   183
        )
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   184
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   185
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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   186
    ec_fsm_change_exec(fsm->fsm_change);
830
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   187
    fsm->state = ec_fsm_slave_config_state_init;
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   188
}
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   189
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/*****************************************************************************/
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   191
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   192
/** Slave configuration state: INIT.
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   193
 */
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   194
void ec_fsm_slave_config_state_init(
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   195
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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   196
        )
830
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   197
{
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   198
    ec_master_t *master = fsm->slave->master;
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   199
    ec_slave_t *slave = fsm->slave;
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   200
    ec_datagram_t *datagram = fsm->datagram;
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   201
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   202
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
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   203
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   204
    if (!ec_fsm_change_success(fsm->fsm_change)) {
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   205
        if (!fsm->fsm_change->spontaneous_change)
830
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   206
            slave->error_flag = 1;
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   207
        fsm->state = ec_fsm_slave_config_state_error;
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   208
        return;
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   209
    }
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   210
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   211
    if (master->debug_level) {
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diff changeset
   212
        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
830
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   213
    }
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diff changeset
   214
d83d92e1a919 Separated slave state machines.
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parents:
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   215
    if (!slave->base_fmmu_count) { // skip FMMU configuration
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parents:
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   216
        ec_fsm_slave_config_enter_mbox_sync(fsm);
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parents:
diff changeset
   217
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   218
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   219
d83d92e1a919 Separated slave state machines.
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   220
    if (master->debug_level)
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   221
        EC_DBG("Clearing FMMU configurations of slave %u...\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   223
d83d92e1a919 Separated slave state machines.
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diff changeset
   224
    // clear FMMU configurations
d83d92e1a919 Separated slave state machines.
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   225
    ec_datagram_fpwr(datagram, slave->station_address,
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parents:
diff changeset
   226
            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   227
    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines.
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parents:
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   228
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   229
    fsm->state = ec_fsm_slave_config_state_clear_fmmus;
d83d92e1a919 Separated slave state machines.
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diff changeset
   230
}
d83d92e1a919 Separated slave state machines.
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   231
d83d92e1a919 Separated slave state machines.
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   232
/*****************************************************************************/
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diff changeset
   233
1064
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   234
/** Slave configuration state: CLEAR FMMU.
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   235
 */
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   236
void ec_fsm_slave_config_state_clear_fmmus(
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diff changeset
   237
        ec_fsm_slave_config_t *fsm /**< slave state machine */
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diff changeset
   238
        )
830
d83d92e1a919 Separated slave state machines.
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diff changeset
   239
{
d83d92e1a919 Separated slave state machines.
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   240
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   241
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   242
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   243
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   244
d83d92e1a919 Separated slave state machines.
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diff changeset
   245
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   246
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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parents: 908
diff changeset
   247
        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   248
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   249
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   250
    }
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   251
d83d92e1a919 Separated slave state machines.
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diff changeset
   252
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   253
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
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diff changeset
   254
        fsm->state = ec_fsm_slave_config_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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parents: 908
diff changeset
   255
        EC_ERR("Failed to clear FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   256
               fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   257
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   258
        return;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   259
    }
d83d92e1a919 Separated slave state machines.
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   260
d83d92e1a919 Separated slave state machines.
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parents:
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   261
    ec_fsm_slave_config_enter_mbox_sync(fsm);
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   262
}
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   263
d83d92e1a919 Separated slave state machines.
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   264
/*****************************************************************************/
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   265
1064
5f27403587a8 Avoid duplicate reconfiguration.
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diff changeset
   266
/** Check for mailbox sync managers to be configured.
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   267
 */
830
d83d92e1a919 Separated slave state machines.
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   268
void ec_fsm_slave_config_enter_mbox_sync(
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parents:
diff changeset
   269
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   270
        )
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   271
{
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   272
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   273
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   274
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
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parents:
diff changeset
   275
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
    // slave is now in INIT
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   281
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   287
    if (!slave->sii.mailbox_protocols) {
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
        // no mailbox protocols supported
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
            EC_DBG("Slave %u does not support mailbox communication.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
        ec_fsm_slave_config_enter_preop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   297
        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
   298
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   301
    if (slave->sii.sync_count >= 2) { // mailbox configuration provided
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
        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
   303
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
        memset(datagram->data, 0x00,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   305
                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
        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
   308
            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
   309
                    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
   310
                    EC_DIR_INVALID, // use default direction
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
                    datagram->data + EC_SYNC_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    } else { // no mailbox sync manager configurations provided
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
        ec_sync_t sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
        if (master->debug_level)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
            EC_DBG("Slave %u does not provide"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
                    " mailbox sync manager configurations.\n",
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
                    slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
                EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   325
        ec_sync_init(&sync, slave);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   326
        sync.physical_start_address = slave->sii.rx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
        sync.control_register = 0x26;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
        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
   329
        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
   330
                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
   331
                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
   332
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   333
        ec_sync_init(&sync, slave);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
   334
        sync.physical_start_address = slave->sii.tx_mailbox_offset;
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
        sync.control_register = 0x22;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
        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
   337
        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
   338
                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
   339
                datagram->data + EC_SYNC_PAGE_SIZE);
830
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    fsm->state = ec_fsm_slave_config_state_mbox_sync;
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
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   348
/** Slave configuration state: SYNC.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   349
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   350
void ec_fsm_slave_config_state_mbox_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   351
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   352
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
        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
   363
               " slave %u (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
        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
   371
        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
   372
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    ec_fsm_slave_config_enter_preop(fsm);
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
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   382
/** Request PREOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   383
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   384
void ec_fsm_slave_config_enter_preop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   385
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   386
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    fsm->state = ec_fsm_slave_config_state_preop;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   389
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   390
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
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
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   395
/** Slave configuration state: PREOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   396
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   397
void ec_fsm_slave_config_state_preop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   398
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   399
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   404
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   405
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   406
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   407
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    // slave is now in PREOP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
    slave->jiffies_preop = fsm->datagram->jiffies_received;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   417
        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
   418
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    if (slave->current_state == slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        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
   423
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
                   slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
        }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    if (!slave->config) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
        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
   431
        ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   435
    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
   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
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   439
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   440
/** Check for SDO configurations to be applied.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   441
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   442
void ec_fsm_slave_config_enter_sdo_conf(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   443
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   444
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   445
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   446
    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
   447
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
    // No CoE configuration to be applied?
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   449
    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   450
        ec_fsm_slave_config_enter_pdo_conf(fsm);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
        return;
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
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   454
    // start SDO configuration
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    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
   456
    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
   457
            ec_sdo_request_t, list);
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   458
    ec_sdo_request_copy(&fsm->request_copy, fsm->request);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   459
    ecrt_sdo_request_write(&fsm->request_copy);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   460
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   461
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   466
/** Slave configuration state: SDO_CONF.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   467
 */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
void ec_fsm_slave_config_state_sdo_conf(
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        ec_fsm_slave_config_t *fsm /**< slave state machine */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        )
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
{
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   472
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   473
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   474
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   475
        EC_ERR("SDO configuration failed for slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
                fsm->slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   482
    if (!fsm->slave->config) { // config removed in the meantime
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   483
        ec_fsm_slave_config_reconfigure(fsm);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   484
        return;
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   485
    }
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   486
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   487
    // 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
   488
    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   489
        fsm->request = list_entry(fsm->request->list.next,
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   490
                ec_sdo_request_t, list);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   491
        ec_sdo_request_copy(&fsm->request_copy, fsm->request);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   492
        ecrt_sdo_request_write(&fsm->request_copy);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   493
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   494
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   498
    // All SDOs are now configured.
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   499
    ec_fsm_slave_config_enter_pdo_conf(fsm);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   500
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   501
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   502
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   503
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   504
/** PDO_CONF entry function.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   505
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   506
void ec_fsm_slave_config_enter_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   507
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   508
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   509
{
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   510
    // Start configuring PDOs
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   511
    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   512
    fsm->state = ec_fsm_slave_config_state_pdo_conf;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   513
    fsm->state(fsm); // execute immediately
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   514
}
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   515
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   516
/*****************************************************************************/
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   517
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   518
/** Slave configuration state: PDO_CONF.
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   519
 */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   520
void ec_fsm_slave_config_state_pdo_conf(
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   521
        ec_fsm_slave_config_t *fsm /**< slave state machine */
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   522
        )
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   523
{
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   524
    if (ec_fsm_pdo_exec(fsm->fsm_pdo))
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   525
        return;
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   526
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   527
    if (!fsm->slave->config) { // config removed in the meantime
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   528
        ec_fsm_slave_config_reconfigure(fsm);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   529
        return;
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   530
    }
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   531
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   532
    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   533
        EC_WARN("PDO configuration failed on slave %u.\n",
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   534
                fsm->slave->ring_position);
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   535
    }
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   536
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   537
    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
   538
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   539
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   540
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   541
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   542
/** Check for PDO sync managers to be configured.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   543
 */
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   544
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
   545
        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
   546
        )
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   547
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   548
    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
   549
    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
   550
    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
   551
    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
   552
    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
   553
    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
   554
    uint16_t size;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   555
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   556
    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
   557
        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
   558
    } else {
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   559
        offset = 0;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   560
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   561
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   562
    if (slave->sii.sync_count <= offset) {
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   563
        // no PDO sync managers to configure
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   564
        ec_fsm_slave_config_enter_fmmu(fsm);
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   565
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   566
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   567
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   568
    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
   569
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   570
    // 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
   571
    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
   572
            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
   573
            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
   574
    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
   575
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   576
    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
   577
        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
   578
        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
   579
        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
   580
        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
   581
        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
   582
                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
   583
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   584
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   585
    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
   586
    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
   587
}
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   588
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   589
/*****************************************************************************/
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   590
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   591
/** Configure PDO sync managers.
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   592
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   593
void ec_fsm_slave_config_state_pdo_sync(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   594
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   595
        )
888
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   596
{
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   597
    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
   598
    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
   599
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   600
    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
   601
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   602
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   603
    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
   604
        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
   605
        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
   606
               " 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
   607
               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
   608
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   609
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   610
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   611
    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
   612
        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
   613
        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
   614
        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
   615
                slave->ring_position);
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   616
        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
   617
        return;
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   618
    }
f0db19108bba Moved Pdo sync manager configuration before Pdo assignment in slave
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   619
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   620
    if (!fsm->slave->config) { // config removed in the meantime
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   621
        ec_fsm_slave_config_reconfigure(fsm);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   622
        return;
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   623
    }
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   624
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
    ec_fsm_slave_config_enter_fmmu(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   630
/** Check for FMMUs to be configured.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   631
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   632
void ec_fsm_slave_config_enter_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   633
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   634
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
    unsigned int i;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
    const ec_fmmu_config_t *fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
    const ec_sync_t *sync;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
    if (slave->base_fmmu_count < slave->config->used_fmmus) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
        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
   646
                slave->ring_position, slave->base_fmmu_count,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
                slave->config->used_fmmus);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
    if (!slave->base_fmmu_count) { // skip FMMU configuration
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
        ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
    // configure FMMUs
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    ec_datagram_fpwr(datagram, slave->station_address,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
                     0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
    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
   660
    for (i = 0; i < slave->config->used_fmmus; i++) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
        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
   662
        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
   663
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
            fsm->state = ec_fsm_slave_config_state_error;
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
   665
            EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
                    " %u!\n", slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
            return;
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
        ec_fmmu_config_page(fmmu, sync,
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
                datagram->data + EC_FMMU_PAGE_SIZE * i);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
    }
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
    fsm->retries = EC_FSM_RETRIES;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
    fsm->state = ec_fsm_slave_config_state_fmmu;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   679
/** Slave configuration state: FMMU.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   680
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   681
void ec_fsm_slave_config_state_fmmu(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   682
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   683
        )
830
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
    ec_datagram_t *datagram = fsm->datagram;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
    ec_slave_t *slave = fsm->slave;
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_TIMED_OUT && fsm->retries--)
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
        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
   693
        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
   694
                " (datagram state %u).\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
               slave->ring_position, datagram->state);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
    if (datagram->working_counter != 1) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
        slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
        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
   702
        EC_ERR("Failed to set FMMUs of slave %u: ",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
               slave->ring_position);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
        ec_datagram_print_wc_error(datagram);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
        return;
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
    ec_fsm_slave_config_enter_safeop(fsm);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   713
/** Request SAFEOP state.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   714
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   715
void ec_fsm_slave_config_enter_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   716
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   717
        )
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
    fsm->state = ec_fsm_slave_config_state_safeop;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   720
    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   721
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   726
/** Slave configuration state: SAFEOP.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   727
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   728
void ec_fsm_slave_config_state_safeop(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   729
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   730
        )
830
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
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   735
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   736
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   737
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   738
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
            fsm->slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
    // slave is now in SAFEOP
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
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   747
        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
   748
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
    if (fsm->slave->current_state == fsm->slave->requested_state) {
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
        fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
        if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   753
            EC_DBG("Finished configuration of slave %u.\n",
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
                   slave->ring_position);
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
        return;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
    }
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
    // set state to OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
    fsm->state = ec_fsm_slave_config_state_op;
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   761
    ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   762
    ec_fsm_change_exec(fsm->fsm_change); // execute immediately
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   767
/** Slave configuration state: OP
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   768
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   769
void ec_fsm_slave_config_state_op(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   770
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   771
        )
830
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
    ec_master_t *master = fsm->slave->master;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
    ec_slave_t *slave = fsm->slave;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   776
    if (ec_fsm_change_exec(fsm->fsm_change)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   777
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   778
    if (!ec_fsm_change_success(fsm->fsm_change)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 1173
diff changeset
   779
        if (!fsm->fsm_change->spontaneous_change)
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
            slave->error_flag = 1;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
        fsm->state = ec_fsm_slave_config_state_error;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
        return;
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
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
    // slave is now in OP
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
    if (master->debug_level) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 908
diff changeset
   788
        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
   789
        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
   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
    fsm->state = ec_fsm_slave_config_state_end; // successful
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
}
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
1677
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   795
/*****************************************************************************/
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   796
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   797
/** Reconfigure the slave starting at INIT.
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   798
 */
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   799
void ec_fsm_slave_config_reconfigure(
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   800
        ec_fsm_slave_config_t *fsm /**< slave state machine */
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   801
        )
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   802
{
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   803
    if (fsm->slave->master->debug_level) {
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   804
        EC_DBG("Slave configuration for slave %u detached during "
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   805
                "configuration. Reconfiguring.", fsm->slave->ring_position);
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   806
    }
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   807
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   808
    ec_fsm_slave_config_enter_init(fsm); // reconfigure
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   809
}
e1a31667fa48 Fixed kernel oops concerning slave configuration detaching.
Florian Pose <fp@igh-essen.com>
parents: 1647
diff changeset
   810
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
 *  Common state functions
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
1064
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   815
/** State: ERROR.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   816
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   817
void ec_fsm_slave_config_state_error(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   818
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   819
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   820
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   821
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   822
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   823
/*****************************************************************************/
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   824
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   825
/** State: END.
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   826
 */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   827
void ec_fsm_slave_config_state_end(
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   828
        ec_fsm_slave_config_t *fsm /**< slave state machine */
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   829
        )
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   830
{
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   831
}
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   832
5f27403587a8 Avoid duplicate reconfiguration.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   833
/*****************************************************************************/