84 |
84 |
85 ec_fsm_master_reset(fsm); |
85 ec_fsm_master_reset(fsm); |
86 |
86 |
87 // init sub-state-machines |
87 // init sub-state-machines |
88 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
88 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
|
89 ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram); |
89 ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe); |
90 ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe); |
90 ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); |
91 ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); |
91 ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram, |
92 ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram, |
92 &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo); |
93 &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo); |
93 ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram, |
94 ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram, |
94 &fsm->fsm_slave_config, &fsm->fsm_pdo); |
95 &fsm->fsm_slave_config, &fsm->fsm_pdo); |
95 ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); |
96 ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); |
96 } |
97 } |
97 |
98 |
103 ec_fsm_master_t *fsm /**< Master state machine. */ |
104 ec_fsm_master_t *fsm /**< Master state machine. */ |
104 ) |
105 ) |
105 { |
106 { |
106 // clear sub-state machines |
107 // clear sub-state machines |
107 ec_fsm_coe_clear(&fsm->fsm_coe); |
108 ec_fsm_coe_clear(&fsm->fsm_coe); |
|
109 ec_fsm_soe_clear(&fsm->fsm_soe); |
108 ec_fsm_pdo_clear(&fsm->fsm_pdo); |
110 ec_fsm_pdo_clear(&fsm->fsm_pdo); |
109 ec_fsm_change_clear(&fsm->fsm_change); |
111 ec_fsm_change_clear(&fsm->fsm_change); |
110 ec_fsm_slave_config_clear(&fsm->fsm_slave_config); |
112 ec_fsm_slave_config_clear(&fsm->fsm_slave_config); |
111 ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan); |
113 ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan); |
112 ec_fsm_sii_clear(&fsm->fsm_sii); |
114 ec_fsm_sii_clear(&fsm->fsm_sii); |
609 fsm->state(fsm); // execute immediately |
611 fsm->state(fsm); // execute immediately |
610 fsm->datagram->device_index = fsm->slave->device_index; |
612 fsm->datagram->device_index = fsm->slave->device_index; |
611 return; |
613 return; |
612 } |
614 } |
613 |
615 |
614 // slave has error flag set; process next one |
616 // process next slave |
615 ec_fsm_master_action_next_slave_state(fsm); |
617 ec_fsm_master_action_next_slave_state(fsm); |
616 } |
618 } |
617 |
619 |
618 /*****************************************************************************/ |
620 /*****************************************************************************/ |
619 |
621 |