83 fsm->datagram = datagram; |
83 fsm->datagram = datagram; |
84 fsm->state = ec_fsm_master_state_start; |
84 fsm->state = ec_fsm_master_state_start; |
85 fsm->idle = 0; |
85 fsm->idle = 0; |
86 fsm->link_state = 0; |
86 fsm->link_state = 0; |
87 fsm->slaves_responding = 0; |
87 fsm->slaves_responding = 0; |
88 fsm->topology_change_pending = 0; |
88 fsm->rescan_required = 0; |
89 fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; |
89 fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; |
90 |
90 |
91 // init sub-state-machines |
91 // init sub-state-machines |
92 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
92 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); |
93 ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe); |
93 ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe); |
199 if (datagram->state == EC_DATAGRAM_TIMED_OUT) |
199 if (datagram->state == EC_DATAGRAM_TIMED_OUT) |
200 return; // always retry |
200 return; // always retry |
201 |
201 |
202 // bus topology change? |
202 // bus topology change? |
203 if (datagram->working_counter != fsm->slaves_responding) { |
203 if (datagram->working_counter != fsm->slaves_responding) { |
204 fsm->topology_change_pending = 1; |
204 fsm->rescan_required = 1; |
205 fsm->slaves_responding = datagram->working_counter; |
205 fsm->slaves_responding = datagram->working_counter; |
206 EC_MASTER_INFO(master, "%u slave(s) responding.\n", |
206 EC_MASTER_INFO(master, "%u slave(s) responding.\n", |
207 fsm->slaves_responding); |
207 fsm->slaves_responding); |
208 } |
208 } |
209 |
209 |
235 } |
235 } |
236 } else { |
236 } else { |
237 fsm->slave_states = 0x00; |
237 fsm->slave_states = 0x00; |
238 } |
238 } |
239 |
239 |
240 if (fsm->topology_change_pending) { |
240 if (fsm->rescan_required) { |
241 down(&master->scan_sem); |
241 down(&master->scan_sem); |
242 if (!master->allow_scan) { |
242 if (!master->allow_scan) { |
243 up(&master->scan_sem); |
243 up(&master->scan_sem); |
244 } else { |
244 } else { |
245 master->scan_busy = 1; |
245 master->scan_busy = 1; |
246 up(&master->scan_sem); |
246 up(&master->scan_sem); |
247 |
247 |
248 // topology change when scan is allowed: |
|
249 // clear all slaves and scan the bus |
248 // clear all slaves and scan the bus |
250 fsm->topology_change_pending = 0; |
249 fsm->rescan_required = 0; |
251 fsm->idle = 0; |
250 fsm->idle = 0; |
252 fsm->scan_jiffies = jiffies; |
251 fsm->scan_jiffies = jiffies; |
253 |
252 |
254 #ifdef EC_EOE |
253 #ifdef EC_EOE |
255 ec_master_eoe_stop(master); |
254 ec_master_eoe_stop(master); |
628 if (datagram->working_counter != 1) { |
627 if (datagram->working_counter != 1) { |
629 if (!slave->error_flag) { |
628 if (!slave->error_flag) { |
630 slave->error_flag = 1; |
629 slave->error_flag = 1; |
631 EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n"); |
630 EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n"); |
632 } |
631 } |
633 fsm->topology_change_pending = 1; |
632 fsm->rescan_required = 1; |
634 ec_fsm_master_restart(fsm); |
633 ec_fsm_master_restart(fsm); |
635 return; |
634 return; |
636 } |
635 } |
637 |
636 |
638 // A single slave responded |
637 // A single slave responded |
790 ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave); |
789 ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave); |
791 ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately |
790 ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately |
792 return; |
791 return; |
793 } |
792 } |
794 |
793 |
795 EC_MASTER_INFO(master, "Bus scanning completed in %u ms.\n", |
794 EC_MASTER_INFO(master, "Bus scanning completed in %lu ms.\n", |
796 (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ); |
795 (jiffies - fsm->scan_jiffies) * 1000 / HZ); |
797 |
796 |
798 master->scan_busy = 0; |
797 master->scan_busy = 0; |
799 wake_up_interruptible(&master->scan_queue); |
798 wake_up_interruptible(&master->scan_queue); |
800 |
799 |
801 ec_master_calc_dc(master); |
800 ec_master_calc_dc(master); |
906 |
905 |
907 time_diff = (u32) slave->master->app_time - system_time32; |
906 time_diff = (u32) slave->master->app_time - system_time32; |
908 |
907 |
909 EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:" |
908 EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:" |
910 " system_time=%u (corrected with %u)," |
909 " system_time=%u (corrected with %u)," |
911 " app_time=%u, diff=%i\n", |
910 " app_time=%llu, diff=%i\n", |
912 system_time32, correction32, |
911 system_time32, correction32, |
913 (u32) slave->master->app_time, time_diff); |
912 slave->master->app_time, time_diff); |
914 |
913 |
915 if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) { |
914 if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) { |
916 new_offset = time_diff + old_offset32; |
915 new_offset = time_diff + old_offset32; |
917 EC_SLAVE_DBG(slave, 1, "Setting time offset to %u (was %u)\n", |
916 EC_SLAVE_DBG(slave, 1, "Setting time offset to %u (was %u)\n", |
918 new_offset, old_offset32); |
917 new_offset, old_offset32); |