etherlabmaster: comparison master/fsm.c

equal deleted inserted replaced

-:b9eda9235173
+:e6fac0c8bc92
 void ec_fsm_slavescan_base(ec_fsm_t *);
 void ec_fsm_slavescan_datalink(ec_fsm_t *);
 void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
 void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
-void ec_fsm_slaveconf_start(ec_fsm_t *);
+void ec_fsm_slaveconf_state_start(ec_fsm_t *);
-void ec_fsm_slaveconf_init(ec_fsm_t *);
+void ec_fsm_slaveconf_state_init(ec_fsm_t *);
-void ec_fsm_slaveconf_sync(ec_fsm_t *);
+void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
-void ec_fsm_slaveconf_preop(ec_fsm_t *);
+void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
+void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
+void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_saveop(ec_fsm_t *);
+void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
-void ec_fsm_slaveconf_op(ec_fsm_t *);
+void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
+void ec_fsm_slaveconf_state_op(ec_fsm_t *);
-void ec_fsm_slave_end(ec_fsm_t *);
-void ec_fsm_slave_error(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
+void ec_fsm_slave_state_end(ec_fsm_t *);
+void ec_fsm_slave_state_error(ec_fsm_t *);
 /*****************************************************************************/
 /**
 Constructor.
 }
 }
 fsm->master_state = ec_fsm_master_configure_slave;
 fsm->slave = slave;
-fsm->slave_state = ec_fsm_slaveconf_start;
+fsm->slave_state = ec_fsm_slaveconf_state_start;
 fsm->slave_state(fsm); // execute immediately
 return;
 }
 // Check, if EoE processing has to be started
 ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 fsm->slave_state(fsm); // execute slave state machine
-if (fsm->slave_state != ec_fsm_slave_end
+if (fsm->slave_state != ec_fsm_slave_state_end
-&& fsm->slave_state != ec_fsm_slave_error) return;
+&& fsm->slave_state != ec_fsm_slave_state_error) return;
 // another slave to fetch?
 if (slave->list.next != &master->slaves) {
 fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
 fsm->slave_state = ec_fsm_slavescan_start;
 /**< finite state machine */
 )
 {
 fsm->slave_state(fsm); // execute slave's state machine
-if (fsm->slave_state != ec_fsm_slave_end
+if (fsm->slave_state != ec_fsm_slave_state_end
-&& fsm->slave_state != ec_fsm_slave_error) return;
+&& fsm->slave_state != ec_fsm_slave_state_error) return;
 ec_fsm_master_action_process_states(fsm);
 }
 /*****************************************************************************/
 ec_datagram_t *datagram = &fsm->datagram;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to write station address of slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read AL state of slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read base data of slave %i.\n",
 slave->ring_position);
 return;
 }
 unsigned int i;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read DL status of slave %i.\n",
 slave->ring_position);
 return;
 }
 if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read EEPROM size of slave %i.\n",
 slave->ring_position);
 return;
 }
 }
 if (!(slave->eeprom_data =
 (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
 slave->ring_position);
 return;
 }
 if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
 slave->ring_position);
 return;
 }
 }
 cat_word += cat_size + 2;
 }
-fsm->slave_state = ec_fsm_slave_end;
+fsm->slave_state = ec_fsm_slave_state_end;
 return;
 end:
 EC_ERR("Failed to analyze category data.\n");
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 }
 /******************************************************************************
 *  slave configuration state machine
 *****************************************************************************/
 /**
 Slave configuration state: START.
 */
-void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_start(ec_fsm_t *fsm /**< finite state machine */)
 {
 if (fsm->master->debug_level) {
 EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
 }
 ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
 ec_fsm_change_exec(&fsm->fsm_change);
-fsm->slave_state = ec_fsm_slaveconf_init;
+fsm->slave_state = ec_fsm_slaveconf_state_init;
 }
 /*****************************************************************************/
 /**
 Slave configuration state: INIT.
 */
-void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_slave_t *slave = fsm->slave;
+ec_datagram_t *datagram = &fsm->datagram;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
+slave->error_flag = 1;
+fsm->slave_state = ec_fsm_slave_state_error;
+return;
+}
+slave->configured = 1;
+if (master->debug_level) {
+EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
+}
+// check and reset CRC fault counters
+//ec_slave_check_crc(slave);
+// TODO: Implement state machine for CRC checking.
+if (!slave->base_fmmu_count) { // skip FMMU configuration
+ec_fsm_slaveconf_enter_sync(fsm);
+return;
+}
+if (master->debug_level)
+EC_DBG("Clearing FMMU configurations of slave %i...\n",
+slave->ring_position);
+// clear FMMU configurations
+ec_datagram_npwr(datagram, slave->station_address,
+0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ec_master_queue_datagram(master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_state_clear_fmmus;
+}
+/*****************************************************************************/
+/**
+Slave configuration state: CLEAR FMMU.
+*/
+void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *fsm
+/**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->slave->error_flag = 1;
+fsm->slave_state = ec_fsm_slave_state_error;
+EC_ERR("Failed to clear FMMUs on slave %i.\n",
+fsm->slave->ring_position);
+return;
+}
+ec_fsm_slaveconf_enter_sync(fsm);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_sync(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = &fsm->datagram;
 const ec_sii_sync_t *sync;
 ec_sii_sync_t mbox_sync;
-if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-if (!ec_fsm_change_success(&fsm->fsm_change)) {
-slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
-return;
-}
-slave->configured = 1;
-if (master->debug_level) {
-EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
-}
 // slave is now in INIT
 if (slave->current_state == slave->requested_state) {
-fsm->slave_state = ec_fsm_slave_end; // successful
+fsm->slave_state = ec_fsm_slave_state_end; // successful
 if (master->debug_level) {
 EC_DBG("Finished configuration of slave %i.\n",
 slave->ring_position);
 }
 return;
 }
-// check and reset CRC fault counters
-//ec_slave_check_crc(slave);
-// TODO: Implement state machine for CRC checking.
 if (!slave->base_sync_count) { // no sync managers
-fsm->slave_state = ec_fsm_slaveconf_preop;
+ec_fsm_slaveconf_enter_preop(fsm);
-ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
-ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 return;
 }
 if (master->debug_level) {
 EC_DBG("Configuring sync managers of slave %i.\n",
 else {
 list_for_each_entry(sync, &slave->sii_syncs, list) {
 if (sync->index >= slave->base_sync_count) {
 EC_ERR("Invalid sync manager configuration found!");
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
 ec_sync_config(sync, slave,
 datagram->data + EC_SYNC_SIZE * sync->index);
 }
 }
 ec_master_queue_datagram(fsm->master, datagram);
-fsm->slave_state = ec_fsm_slaveconf_sync;
+fsm->slave_state = ec_fsm_slaveconf_state_sync;
 }
 /*****************************************************************************/
 /**
 Slave configuration state: SYNC.
 */
-void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_sync(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to set sync managers on slave %i.\n",
 slave->ring_position);
 return;
 }
-fsm->slave_state = ec_fsm_slaveconf_preop;
+ec_fsm_slaveconf_enter_preop(fsm);
-ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_preop(ec_fsm_t *fsm /**< finite state machine */)
+{
+fsm->slave_state = ec_fsm_slaveconf_state_preop;
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/
 /**
 Slave configuration state: PREOP.
 */
-void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 ec_master_t *master = fsm->master;
 ec_datagram_t *datagram = &fsm->datagram;
 unsigned int j;
 if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 if (!ec_fsm_change_success(&fsm->fsm_change)) {
 slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
 // slave is now in PREOP
 slave->jiffies_preop = fsm->datagram.jiffies_received;
 if (master->debug_level) {
 EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
 }
 if (slave->current_state == slave->requested_state) {
-fsm->slave_state = ec_fsm_slave_end; // successful
+fsm->slave_state = ec_fsm_slave_state_end; // successful
 if (master->debug_level) {
 EC_DBG("Finished configuration of slave %i.\n",
 slave->ring_position);
 }
 return;
 }
 if (!slave->base_fmmu_count) { // skip FMMU configuration
 if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-fsm->slave_state = ec_fsm_slaveconf_saveop;
+ec_fsm_slaveconf_enter_saveop(fsm);
-ec_fsm_change_start(&fsm->fsm_change, slave,
-EC_SLAVE_STATE_SAVEOP);
-ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 return;
 }
-// start SDO configuration
+ec_fsm_slaveconf_enter_sdoconf(fsm);
-fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
-ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
-ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 return;
 }
 // configure FMMUs
 ec_datagram_npwr(datagram, slave->station_address,
 ec_fmmu_config(&slave->fmmus[j], slave,
 datagram->data + EC_FMMU_SIZE * j);
 }
 ec_master_queue_datagram(master, datagram);
-fsm->slave_state = ec_fsm_slaveconf_fmmu;
+fsm->slave_state = ec_fsm_slaveconf_state_fmmu;
 }
 /*****************************************************************************/
 /**
 Slave configuration state: FMMU.
 */
-void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to set FMMUs on slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 // No CoE configuration to be applied? Jump to SAVEOP state.
 if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-// set state to SAVEOP
+ec_fsm_slaveconf_enter_saveop(fsm);
-fsm->slave_state = ec_fsm_slaveconf_saveop;
+return;
-ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+}
-ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-return;
+ec_fsm_slaveconf_enter_sdoconf(fsm);
 }
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
+{
 // start SDO configuration
-fsm->slave_state = ec_fsm_slaveconf_sdoconf;
+fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
-fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
-ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
+ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
 /**
 Slave configuration state: SDOCONF.
 */
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
 {
 if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
 // Another SDO to configure?
 if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
 }
 // All SDOs are now configured.
 // set state to SAVEOP
-fsm->slave_state = ec_fsm_slaveconf_saveop;
+ec_fsm_slaveconf_enter_saveop(fsm);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *fsm /**< finite state machine */)
+{
+fsm->slave_state = ec_fsm_slaveconf_state_saveop;
 ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/
 /**
 Slave configuration state: SAVEOP.
 */
-void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_saveop(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 if (!ec_fsm_change_success(&fsm->fsm_change)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
 // slave is now in SAVEOP
 if (master->debug_level) {
 EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
 }
 if (fsm->slave->current_state == fsm->slave->requested_state) {
-fsm->slave_state = ec_fsm_slave_end; // successful
+fsm->slave_state = ec_fsm_slave_state_end; // successful
 if (master->debug_level) {
 EC_DBG("Finished configuration of slave %i.\n",
 slave->ring_position);
 }
 return;
 }
 // set state to OP
-fsm->slave_state = ec_fsm_slaveconf_op;
+fsm->slave_state = ec_fsm_slaveconf_state_op;
 ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/
 /**
 Slave configuration state: OP
 */
-void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_op(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 if (!ec_fsm_change_success(&fsm->fsm_change)) {
 slave->error_flag = 1;
-fsm->slave_state = ec_fsm_slave_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
 // slave is now in OP
 if (master->debug_level) {
 EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
 EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
 }
-fsm->slave_state = ec_fsm_slave_end; // successful
+fsm->slave_state = ec_fsm_slave_state_end; // successful
 }
 /******************************************************************************
 *  Common state functions
 *****************************************************************************/
 /**
 State: ERROR.
 */
-void ec_fsm_slave_error(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slave_state_error(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
 State: END.
 */
-void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slave_state_end(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/

changeset 462	e6fac0c8bc92
parent 461	b9eda9235173
child 470	4ec31555832b