etherlabmaster: comparison master/fsm_slave

equal deleted inserted replaced

-:ea38efeeb7b3
+:6aa393418fb3
 #include "slave_config.h"
 #include "fsm_slave_config.h"
 /*****************************************************************************/
-/** Time difference [ns] to tolerate without setting a new system time offset.
+/** Maximum clock difference (in ns) before going to SAFEOP.
-*/
+*
-#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000
+* Wait for DC time difference to drop under this absolute value before
+* requesting SAFEOP.
+*/
+#define EC_DC_MAX_SYNC_DIFF_NS 5000
+/** Maximum time (in ms) to wait for clock discipline.
+*/
+#define EC_DC_SYNC_WAIT_MS 5000
+/** Time offset (in ns), that is added to cyclic start time.
+*/
+#define EC_DC_START_OFFSET 100000000ULL
 /*****************************************************************************/
 void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
 */
 void ec_fsm_slave_config_state_start(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-if (fsm->slave->master->debug_level) {
+EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
-EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
-}
 ec_fsm_slave_config_enter_init(fsm);
 }
 /*****************************************************************************/
 */
 void ec_fsm_slave_config_state_init(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-ec_master_t *master = fsm->slave->master;
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = fsm->datagram;
 if (ec_fsm_change_exec(fsm->fsm_change)) return;
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
 return;
 }
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
-EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
-}
 if (!slave->base_fmmu_count) { // skip FMMU configuration
 ec_fsm_slave_config_enter_clear_sync(fsm);
 return;
 }
-if (master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
-EC_DBG("Clearing FMMU configurations of slave %u...\n",
-slave->ring_position);
 // clear FMMU configurations
 ec_datagram_fpwr(datagram, slave->station_address,
 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
 ec_datagram_zero(datagram);
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
+EC_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
-fsm->slave->ring_position);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to clear FMMUs of slave %u: ",
+EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
-fsm->slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_clear_sync(fsm);
 // no sync managers
 ec_fsm_slave_config_enter_dc_clear_assign(fsm);
 return;
 }
-if (slave->master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
-EC_DBG("Clearing sync manager configurations of slave %u...\n",
-slave->ring_position);
 sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
 // clear sync manager configurations
 ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed receive sync manager clearing datagram"
+EC_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
-" for slave %u.\n", fsm->slave->ring_position);
+" clearing datagram.\n");
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to clear sync manager configurations of slave %u: ",
+EC_SLAVE_ERR(fsm->slave,
-fsm->slave->ring_position);
+"Failed to clear sync manager configurations: ");
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_dc_clear_assign(fsm);
 if (!slave->base_dc_supported || !slave->has_dc_system_time) {
 ec_fsm_slave_config_enter_mbox_sync(fsm);
 return;
 }
-if (slave->master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
-EC_DBG("Clearing DC assignment of slave %u...\n",
-slave->ring_position);
 ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
 ec_datagram_zero(datagram);
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed receive DC assignment clearing datagram"
+EC_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
-" for slave %u.\n", fsm->slave->ring_position);
+" clearing datagram.\n");
 return;
 }
-if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
+if (datagram->working_counter != 1) {
 // clearing the DC assignment does not succeed on simple slaves
-EC_DBG("Failed to clear DC assignment of slave %u: ",
+EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
-fsm->slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 }
-// read DC system time (0x0910, 64 bit)
-//                         gap (64 bit)
-//     and time offset (0x0920, 64 bit)
-ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
-fsm->retries = EC_FSM_RETRIES;
-fsm->state = ec_fsm_slave_config_state_dc_read_offset;
-}
-/*****************************************************************************/
-/** Configure 32 bit time offset.
-*/
-u64 ec_fsm_slave_config_dc_offset32(
-ec_fsm_slave_config_t *fsm, /**< slave state machine */
-u64 system_time, /**< System time register. */
-u64 old_offset, /**< Time offset register. */
-u64 correction /**< Correction. */
-)
-{
-ec_slave_t *slave = fsm->slave;
-u32 correction32, system_time32, old_offset32, new_offset;
-s32 time_diff;
-system_time32 = (u32) system_time;
-old_offset32 = (u32) old_offset;
-// correct read system time by elapsed time since read operation
-correction32 = (u32)correction;
-system_time32 -= correction32;
-time_diff = (u32) slave->master->app_time - system_time32;
-if (slave->master->debug_level)
-EC_DBG("Slave %u: system_time=%u (corrected with %u),"
-" app_time=%u, diff=%i\n",
-slave->ring_position, system_time32, correction32,
-(u32) slave->master->app_time, time_diff);
-if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
-new_offset = time_diff + old_offset32;
-if (slave->master->debug_level)
-EC_DBG("Slave %u: Setting time offset to %u (was %u)\n",
-slave->ring_position, new_offset, old_offset32);
-return (u64) new_offset;
-} else {
-if (slave->master->debug_level)
-EC_DBG("Slave %u: Not touching time offset.\n",
-slave->ring_position);
-return old_offset;
-}
-}
-/*****************************************************************************/
-/** Configure 64 bit time offset.
-*/
-u64 ec_fsm_slave_config_dc_offset64(
-ec_fsm_slave_config_t *fsm, /**< slave state machine */
-u64 system_time, /**< System time register. */
-u64 old_offset, /**< Time offset register. */
-u64 correction /**< Correction. */
-)
-{
-ec_slave_t *slave = fsm->slave;
-u64 new_offset;
-s64 time_diff;
-system_time -= correction;
-time_diff = fsm->slave->master->app_time - system_time;
-if (slave->master->debug_level)
-EC_DBG("Slave %u: system_time=%llu (corrected with %llu),"
-" app_time=%llu, diff=%lli\n",
-slave->ring_position, system_time, correction,
-slave->master->app_time, time_diff);
-if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
-new_offset = time_diff + old_offset;
-if (slave->master->debug_level)
-EC_DBG("Slave %u: Setting time offset to %llu (was %llu)\n",
-slave->ring_position, new_offset, old_offset);
-} else {
-new_offset = old_offset;
-if (slave->master->debug_level)
-EC_DBG("Slave %u: Not touching time offset.\n",
-slave->ring_position);
-}
-return new_offset;
-}
-/*****************************************************************************/
-/** Slave configuration state: DC READ OFFSET.
-*/
-void ec_fsm_slave_config_state_dc_read_offset(
-ec_fsm_slave_config_t *fsm /**< slave state machine */
-)
-{
-ec_datagram_t *datagram = fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-u64 system_time, old_offset, new_offset, correction;
-if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
-return;
-if (datagram->state != EC_DATAGRAM_RECEIVED) {
-fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive DC times datagram for slave %u: ",
-slave->ring_position);
-ec_datagram_print_state(datagram);
-return;
-}
-if (datagram->working_counter != 1) {
-slave->error_flag = 1;
-fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to get DC times of slave %u: ",
-slave->ring_position);
-ec_datagram_print_wc_error(datagram);
-return;
-}
-system_time = EC_READ_U64(datagram->data);     // 0x0910
-old_offset = EC_READ_U64(datagram->data + 16); // 0x0920
-/* correct read system time by elapsed time since read operation
-and the app_time set time */
-#ifdef EC_HAVE_CYCLES
-correction =
-(datagram->cycles_sent - slave->master->dc_cycles_app_time)
-* 1000000LL;
-do_div(correction,cpu_khz);
-#else
-correction =
-(u64) ((datagram->jiffies_sent-slave->master->dc_jiffies_app_time) * 1000 / HZ)
-* 1000000;
-#endif
-if (slave->base_dc_range == EC_DC_32) {
-new_offset = ec_fsm_slave_config_dc_offset32(fsm,
-system_time, old_offset, correction);
-} else {
-new_offset = ec_fsm_slave_config_dc_offset64(fsm,
-system_time, old_offset, correction);
-}
-// set DC system time offset and transmission delay
-ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
-EC_WRITE_U64(datagram->data, new_offset);
-EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
-fsm->retries = EC_FSM_RETRIES;
-fsm->state = ec_fsm_slave_config_state_dc_write_offset;
-}
-/*****************************************************************************/
-/** Slave configuration state: DC WRITE OFFSET.
-*/
-void ec_fsm_slave_config_state_dc_write_offset(
-ec_fsm_slave_config_t *fsm /**< slave state machine */
-)
-{
-ec_datagram_t *datagram = fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
-return;
-if (datagram->state != EC_DATAGRAM_RECEIVED) {
-fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive DC system time offset datagram for"
-" slave %u: ", slave->ring_position);
-ec_datagram_print_state(datagram);
-return;
-}
-if (datagram->working_counter != 1) {
-slave->error_flag = 1;
-fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set DC system time offset of slave %u: ",
-slave->ring_position);
-ec_datagram_print_wc_error(datagram);
-return;
-}
 ec_fsm_slave_config_enter_mbox_sync(fsm);
 }
 /*****************************************************************************/
 */
 void ec_fsm_slave_config_enter_mbox_sync(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-ec_master_t *master = fsm->slave->master;
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = fsm->datagram;
 unsigned int i;
 // slave is now in INIT
 if (slave->current_state == slave->requested_state) {
 fsm->state = ec_fsm_slave_config_state_end; // successful
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
-EC_DBG("Finished configuration of slave %u.\n",
-slave->ring_position);
-}
 return;
 }
 if (!slave->sii.mailbox_protocols) {
 // no mailbox protocols supported
-if (master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Slave does not support"
-EC_DBG("Slave %u does not support mailbox communication.\n",
+" mailbox communication.\n");
-slave->ring_position);
 ec_fsm_slave_config_enter_boot_preop(fsm);
 return;
 }
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
-EC_DBG("Configuring mailbox sync managers of slave %u.\n",
-slave->ring_position);
-}
 if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
 ec_sync_t sync;
 ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
 slave->configured_tx_mailbox_size =
 slave->sii.syncs[1].default_length;
 } else { // no mailbox sync manager configurations provided
 ec_sync_t sync;
-if (master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Slave does not provide"
-EC_DBG("Slave %u does not provide"
+" mailbox sync manager configurations.\n");
-" mailbox sync manager configurations.\n",
-slave->ring_position);
 ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
 EC_SYNC_PAGE_SIZE * 2);
 ec_datagram_zero(datagram);
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive sync manager configuration datagram for"
+EC_SLAVE_ERR(slave, "Failed to receive sync manager"
-" slave %u: ", slave->ring_position);
+" configuration datagram: ");
 ec_datagram_print_state(datagram);
 return;
 }
 if (fsm->take_time) {
 unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
 if (diff >= HZ) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Timeout while configuring mailbox sync managers of"
+EC_SLAVE_ERR(slave, "Timeout while configuring"
-" slave %u.\n", slave->ring_position);
+" mailbox sync managers.\n");
 return;
-}
+} else {
-else if (slave->master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Resending after %u ms...\n",
-EC_DBG("Resending after %u ms...\n",
 (unsigned int) diff * 1000 / HZ);
 }
 // send configuration datagram again
 fsm->retries = EC_FSM_RETRIES;
 return;
 }
 else if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set sync managers of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to set sync managers: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_boot_preop(fsm);
 void ec_fsm_slave_config_state_boot_preop(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
 ec_slave_t *slave = fsm->slave;
-ec_master_t *master = fsm->slave->master;
 if (ec_fsm_change_exec(fsm->fsm_change)) return;
 if (!ec_fsm_change_success(fsm->fsm_change)) {
 if (!fsm->fsm_change->spontaneous_change)
 }
 // slave is now in BOOT or PREOP
 slave->jiffies_preop = fsm->datagram->jiffies_received;
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
-EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
+slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
-slave->requested_state != EC_SLAVE_STATE_BOOT
-? "PREOP" : "BOOT");
-}
 if (slave->current_state == slave->requested_state) {
 fsm->state = ec_fsm_slave_config_state_end; // successful
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
-EC_DBG("Finished configuration of slave %u.\n",
-slave->ring_position);
-}
 return;
 }
 ec_fsm_slave_config_enter_sdo_conf(fsm);
 }
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("SDO configuration failed for slave %u.\n",
+EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
-fsm->slave->ring_position);
 fsm->slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
 return;
 }
 ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
 return;
 }
 if (!ec_fsm_soe_success(fsm_soe)) {
-EC_ERR("SoE configuration failed for slave %u.\n",
+EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
-fsm->slave->ring_position);
 fsm->slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
 return;
 }
 ec_fsm_slave_config_reconfigure(fsm);
 return;
 }
 if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
-EC_WARN("PDO configuration failed on slave %u.\n",
+EC_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
-fsm->slave->ring_position);
 }
 ec_fsm_slave_config_enter_watchdog_divider(fsm);
 }
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = fsm->datagram;
-ec_master_t *master = slave->master;
 ec_slave_config_t *config = slave->config;
 if (config && config->watchdog_divider) {
-if (master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Setting watchdog divider to %u.\n",
-EC_DBG("Setting watchdog divider to %u.\n",
+config->watchdog_divider);
-config->watchdog_divider);
 ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
 EC_WRITE_U16(datagram->data, config->watchdog_divider);
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_slave_config_state_watchdog_divider;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive watchdog divider configuration datagram for"
+EC_SLAVE_ERR(slave, "Failed to receive watchdog divider"
-" slave %u: ", slave->ring_position);
+" configuration datagram: ");
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
-EC_WARN("Failed to set watchdog divider of slave %u: ",
+EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_watchdog(fsm);
 ec_datagram_t *datagram = fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 ec_slave_config_t *config = slave->config;
 if (config && config->watchdog_intervals) {
-if (slave->master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Setting process data"
-EC_DBG("Setting process data watchdog intervals to %u.\n",
+" watchdog intervals to %u.\n", config->watchdog_intervals);
-config->watchdog_intervals);
 ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
 EC_WRITE_U16(datagram->data, config->watchdog_intervals);
 fsm->retries = EC_FSM_RETRIES;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive sync manager watchdog configuration "
+EC_SLAVE_ERR(slave, "Failed to receive sync manager"
-"datagram for slave %u: ", slave->ring_position);
+" watchdog configuration datagram: ");
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
-EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
+EC_SLAVE_WARN(slave, "Failed to set process data"
-slave->ring_position);
+" watchdog intervals: ");
 ec_datagram_print_wc_error(datagram);
 }
 ec_fsm_slave_config_enter_pdo_sync(fsm);
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive process data sync manager configuration"
+EC_SLAVE_ERR(slave, "Failed to receive process data sync"
-" datagram for slave %u: ", slave->ring_position);
+" manager configuration datagram: ");
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set process data sync managers of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_fmmu(fsm);
 }
 if (slave->base_fmmu_count < slave->config->used_fmmus) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
+EC_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
-slave->ring_position, slave->base_fmmu_count,
+" than requested (%u).\n", slave->base_fmmu_count,
 slave->config->used_fmmus);
 return;
 }
 if (!slave->base_fmmu_count) { // skip FMMU configuration
 for (i = 0; i < slave->config->used_fmmus; i++) {
 fmmu = &slave->config->fmmu_configs[i];
 if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
+EC_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
-" %u!\n", slave->ring_position);
+" for FMMU!\n");
 return;
 }
 ec_fmmu_config_page(fmmu, sync,
 datagram->data + EC_FMMU_PAGE_SIZE * i);
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive FMMUs datagram for slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
-slave->ring_position);
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set FMMUs of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_dc_cycle(fsm);
 return;
 }
 if (config->dc_assign_activate) {
 if (!slave->base_dc_supported || !slave->has_dc_system_time) {
-EC_WARN("Slave %u seems not to support distributed clocks!\n",
+EC_SLAVE_WARN(slave, "Slave seems not to support"
-slave->ring_position);
+" distributed clocks!\n");
 }
-if (slave->master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
-EC_DBG("Slave %u: Setting DC cycle times to %u / %u.\n",
+config->dc_sync[0].cycle_time, config->dc_sync[1].cycle_time);
-slave->ring_position,
-config->dc_sync[0].cycle_time,
-config->dc_sync[1].cycle_time);
 // set DC cycle times
 ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
 EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
 EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
 ec_datagram_t *datagram = fsm->datagram;
 ec_slave_t *slave = fsm->slave;
+ec_slave_config_t *config = slave->config;
+if (!config) { // config removed in the meantime
+ec_fsm_slave_config_reconfigure(fsm);
+return;
+}
+if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+return;
+if (datagram->state != EC_DATAGRAM_RECEIVED) {
+fsm->state = ec_fsm_slave_config_state_error;
+EC_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
+ec_datagram_print_state(datagram);
+return;
+}
+if (datagram->working_counter != 1) {
+slave->error_flag = 1;
+fsm->state = ec_fsm_slave_config_state_error;
+EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
+ec_datagram_print_wc_error(datagram);
+return;
+}
+EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
+fsm->jiffies_start = jiffies;
+ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_slave_config_state_dc_sync_check;
+}
+/*****************************************************************************/
+/** Slave configuration state: DC SYNC CHECK.
+*/
+void ec_fsm_slave_config_state_dc_sync_check(
+ec_fsm_slave_config_t *fsm /**< slave state machine */
+)
+{
+ec_datagram_t *datagram = fsm->datagram;
+ec_slave_t *slave = fsm->slave;
 ec_master_t *master = slave->master;
 ec_slave_config_t *config = slave->config;
+uint32_t abs_sync_diff;
+unsigned long diff_ms;
 ec_sync_signal_t *sync0 = &config->dc_sync[0];
 u64 start_time;
 if (!config) { // config removed in the meantime
 ec_fsm_slave_config_reconfigure(fsm);
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive DC cycle times datagram for slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
-slave->ring_position);
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set DC cycle times of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
+abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
+diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
+if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
+EC_SLAVE_WARN(slave, "Slave did not sync after %u ms.\n",
+(u32) diff_ms);
+} else {
+EC_SLAVE_DBG(slave, 1, "Sync after %4u ms: %10u ns\n",
+(u32) diff_ms, abs_sync_diff);
+// check synchrony again
+ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
+fsm->retries = EC_FSM_RETRIES;
+return;
+}
+} else {
+EC_SLAVE_DBG(slave, 1, "%u ns difference after %u ms.\n",
+abs_sync_diff, (u32) diff_ms);
+}
 // set DC start time
-start_time = master->app_time + 100000000ULL; // now + X ns
+start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns
 // FIXME use slave's local system time here?
 if (sync0->cycle_time) {
 // find correct phase
-if (master->has_start_time) {
+if (master->has_app_time) {
 u64 diff, start;
 u32 remainder;
 diff = start_time - master->app_start_time;
 remainder = do_div(diff, sync0->cycle_time);
 start = start_time +
 sync0->cycle_time - remainder + sync0->shift_time;
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
-EC_DBG("app_start_time=%llu\n", master->app_start_time);
+master->app_start_time);
-EC_DBG("    start_time=%llu\n", start_time);
+EC_SLAVE_DBG(slave, 1, "    start_time=%llu\n", start_time);
-EC_DBG("    cycle_time=%u\n", sync0->cycle_time);
+EC_SLAVE_DBG(slave, 1, "    cycle_time=%u\n", sync0->cycle_time);
-EC_DBG("    shift_time=%u\n", sync0->shift_time);
+EC_SLAVE_DBG(slave, 1, "    shift_time=%u\n", sync0->shift_time);
-EC_DBG("     remainder=%u\n", remainder);
+EC_SLAVE_DBG(slave, 1, "     remainder=%u\n", remainder);
-EC_DBG("         start=%llu\n", start);
+EC_SLAVE_DBG(slave, 1, "         start=%llu\n", start);
-}
 start_time = start;
 } else {
-EC_WARN("No application time supplied. Cyclic start time will "
+EC_SLAVE_WARN(slave, "No application time supplied."
-"not be in phase for slave %u.\n", slave->ring_position);
+" Cyclic start time will not be in phase.\n");
 }
 }
-if (master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
-EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
+" start time to %llu.\n", start_time);
-slave->ring_position, start_time);
 ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
 EC_WRITE_U64(datagram->data, start_time);
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_slave_config_state_dc_start;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive DC start time datagram for slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to receive DC start time datagram: ");
-slave->ring_position);
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set DC start time of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to set DC start time: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
-if (slave->master->debug_level)
+EC_SLAVE_DBG(slave, 1, "Setting DC AssignActivate to 0x%04x.\n",
-EC_DBG("Slave %u: Setting DC AssignActivate to 0x%04x.\n",
+config->dc_assign_activate);
-slave->ring_position, config->dc_assign_activate);
 // assign sync unit to EtherCAT or PDI
 ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
 EC_WRITE_U16(datagram->data, config->dc_assign_activate);
 fsm->retries = EC_FSM_RETRIES;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to receive DC activation datagram for slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to receive DC activation datagram: ");
-slave->ring_position);
 ec_datagram_print_state(datagram);
 return;
 }
 if (datagram->working_counter != 1) {
 slave->error_flag = 1;
 fsm->state = ec_fsm_slave_config_state_error;
-EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
+EC_SLAVE_ERR(slave, "Failed to activate DC: ");
-slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 ec_fsm_slave_config_enter_safeop(fsm);
 */
 void ec_fsm_slave_config_state_safeop(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-ec_master_t *master = fsm->slave->master;
 ec_slave_t *slave = fsm->slave;
 if (ec_fsm_change_exec(fsm->fsm_change)) return;
 if (!ec_fsm_change_success(fsm->fsm_change)) {
 return;
 }
 // slave is now in SAFEOP
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
-EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
-}
 if (fsm->slave->current_state == fsm->slave->requested_state) {
 fsm->state = ec_fsm_slave_config_state_end; // successful
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
-EC_DBG("Finished configuration of slave %u.\n",
-slave->ring_position);
-}
 return;
 }
 // set state to OP
 fsm->state = ec_fsm_slave_config_state_op;
 */
 void ec_fsm_slave_config_state_op(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-ec_master_t *master = fsm->slave->master;
 ec_slave_t *slave = fsm->slave;
 if (ec_fsm_change_exec(fsm->fsm_change)) return;
 if (!ec_fsm_change_success(fsm->fsm_change)) {
 return;
 }
 // slave is now in OP
-if (master->debug_level) {
+EC_SLAVE_DBG(slave, 1, "Now in OP. Finished configuration.\n");
-EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
-EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
-}
 fsm->state = ec_fsm_slave_config_state_end; // successful
 }
 /*****************************************************************************/
 */
 void ec_fsm_slave_config_reconfigure(
 ec_fsm_slave_config_t *fsm /**< slave state machine */
 )
 {
-if (fsm->slave->master->debug_level) {
+EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
-EC_DBG("Slave configuration for slave %u detached during "
+"configuration. Reconfiguring.");
-"configuration. Reconfiguring.", fsm->slave->ring_position);
-}
 ec_fsm_slave_config_enter_init(fsm); // reconfigure
 }
 /******************************************************************************

changeset 1989	6aa393418fb3
parent 1987	f452c93f7723
parent 1925	29161abef052
child 1990	b0dcdfbd4238