--- a/master/fsm.c Mon Oct 23 12:59:42 2006 +0000
+++ b/master/fsm.c Mon Oct 23 13:45:09 2006 +0000
@@ -80,13 +80,6 @@
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
-void ec_fsm_change_start(ec_fsm_t *);
-void ec_fsm_change_check(ec_fsm_t *);
-void ec_fsm_change_status(ec_fsm_t *);
-void ec_fsm_change_code(ec_fsm_t *);
-void ec_fsm_change_ack(ec_fsm_t *);
-void ec_fsm_change_check_ack(ec_fsm_t *);
-
void ec_fsm_coe_dict_start(ec_fsm_t *);
void ec_fsm_coe_dict_request(ec_fsm_t *);
void ec_fsm_coe_dict_check(ec_fsm_t *);
@@ -139,6 +132,7 @@
}
ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
+ ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram);
return 0;
}
@@ -152,6 +146,7 @@
void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
{
ec_fsm_sii_clear(&fsm->fsm_sii);
+ ec_fsm_change_clear(&fsm->fsm_change);
ec_datagram_clear(&fsm->datagram);
}
@@ -389,8 +384,7 @@
// begin configuring slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slaveconf_init;
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
+ ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fsm->master_state = ec_fsm_configuration_conf;
fsm->master_state(fsm); // execute immediately
}
@@ -419,8 +413,7 @@
if (slave->list.next != &master->slaves) {
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slaveconf_init;
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
+ ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fsm->master_state(fsm); // execute immediately
return;
}
@@ -601,8 +594,7 @@
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_init;
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
+ ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fsm->master_state = ec_fsm_master_configure_slave;
fsm->master_state(fsm); // execute immediately
return;
@@ -1454,16 +1446,16 @@
const ec_sii_sync_t *sync;
ec_sii_sync_t mbox_sync;
- fsm->change_state(fsm); // execute state change state machine
-
- if (fsm->change_state == ec_fsm_error) {
+ ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
+
+ if (ec_fsm_change_running(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
- if (fsm->change_state != ec_fsm_end) return;
-
slave->configured = 1;
if (master->debug_level) {
@@ -1486,9 +1478,8 @@
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slaveconf_preop;
- fsm->change_new = EC_SLAVE_STATE_PREOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1563,9 +1554,8 @@
}
fsm->slave_state = ec_fsm_slaveconf_preop;
- fsm->change_new = EC_SLAVE_STATE_PREOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
@@ -1581,16 +1571,16 @@
ec_datagram_t *datagram = &fsm->datagram;
unsigned int j;
- fsm->change_state(fsm); // execute state change state machine
-
- if (fsm->change_state == ec_fsm_error) {
+ ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
+
+ if (ec_fsm_change_running(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
- if (fsm->change_state != ec_fsm_end) return;
-
// slave is now in PREOP
slave->jiffies_preop = fsm->datagram.jiffies_received;
@@ -1610,9 +1600,8 @@
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fsm->slave_state = ec_fsm_slaveconf_saveop;
- fsm->change_new = EC_SLAVE_STATE_SAVEOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1661,9 +1650,8 @@
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
- fsm->change_new = EC_SLAVE_STATE_SAVEOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1705,9 +1693,8 @@
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
- fsm->change_new = EC_SLAVE_STATE_SAVEOP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
@@ -1721,16 +1708,16 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- fsm->change_state(fsm); // execute state change state machine
-
- if (fsm->change_state == ec_fsm_error) {
+ ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
+
+ if (ec_fsm_change_running(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
- if (fsm->change_state != ec_fsm_end) return;
-
// slave is now in SAVEOP
if (master->debug_level) {
@@ -1748,9 +1735,8 @@
// set state to OP
fsm->slave_state = ec_fsm_slaveconf_op;
- fsm->change_new = EC_SLAVE_STATE_OP;
- fsm->change_state = ec_fsm_change_start;
- fsm->change_state(fsm); // execute immediately
+ ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
@@ -1764,16 +1750,16 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- fsm->change_state(fsm); // execute state change state machine
-
- if (fsm->change_state == ec_fsm_error) {
+ ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
+
+ if (ec_fsm_change_running(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
- if (fsm->change_state != ec_fsm_end) return;
-
// slave is now in OP
if (master->debug_level) {
@@ -1785,282 +1771,6 @@
}
/******************************************************************************
- * state change state machine
- *****************************************************************************/
-
-/**
- Change state: START.
-*/
-
-void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- fsm->change_take_time = 1;
-
- // write new state to slave
- ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
- EC_WRITE_U16(datagram->data, fsm->change_new);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->change_state = ec_fsm_change_check;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: CHECK.
-*/
-
-void ec_fsm_change_check(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) {
- fsm->change_state = ec_fsm_error;
- EC_ERR("Failed to send state datagram to slave %i!\n",
- fsm->slave->ring_position);
- return;
- }
-
- if (fsm->change_take_time) {
- fsm->change_take_time = 0;
- fsm->change_jiffies = datagram->jiffies_sent;
- }
-
- if (datagram->working_counter != 1) {
- if (datagram->jiffies_received - fsm->change_jiffies >= 3 * HZ) {
- fsm->change_state = ec_fsm_error;
- EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
- " respond.\n", fsm->change_new, fsm->slave->ring_position);
- return;
- }
-
- // repeat writing new state to slave
- ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
- EC_WRITE_U16(datagram->data, fsm->change_new);
- ec_master_queue_datagram(fsm->master, datagram);
- return;
- }
-
- fsm->change_take_time = 1;
-
- // read AL status from slave
- ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->change_state = ec_fsm_change_status;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: STATUS.
-*/
-
-void ec_fsm_change_status(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->change_state = ec_fsm_error;
- EC_ERR("Failed to check state 0x%02X on slave %i.\n",
- fsm->change_new, slave->ring_position);
- return;
- }
-
- if (fsm->change_take_time) {
- fsm->change_take_time = 0;
- fsm->change_jiffies = datagram->jiffies_sent;
- }
-
- slave->current_state = EC_READ_U8(datagram->data);
-
- if (slave->current_state == fsm->change_new) {
- // state has been set successfully
- fsm->change_state = ec_fsm_end;
- return;
- }
-
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- // state change error
- EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
- " (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
- slave->current_state);
- // fetch AL status error code
- ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->change_state = ec_fsm_change_code;
- return;
- }
-
- if (datagram->jiffies_received
- - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
- // timeout while checking
- fsm->change_state = ec_fsm_error;
- EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
- fsm->change_new, slave->ring_position);
- return;
- }
-
- // still old state: check again
- ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(fsm->master, datagram);
-}
-
-/*****************************************************************************/
-
-/**
- Application layer status messages.
-*/
-
-const ec_code_msg_t al_status_messages[] = {
- {0x0001, "Unspecified error"},
- {0x0011, "Invalud requested state change"},
- {0x0012, "Unknown requested state"},
- {0x0013, "Bootstrap not supported"},
- {0x0014, "No valid firmware"},
- {0x0015, "Invalid mailbox configuration"},
- {0x0016, "Invalid mailbox configuration"},
- {0x0017, "Invalid sync manager configuration"},
- {0x0018, "No valid inputs available"},
- {0x0019, "No valid outputs"},
- {0x001A, "Synchronisation error"},
- {0x001B, "Sync manager watchdog"},
- {0x001C, "Invalid sync manager types"},
- {0x001D, "Invalid output configuration"},
- {0x001E, "Invalid input configuration"},
- {0x001F, "Invalid watchdog configuration"},
- {0x0020, "Slave needs cold start"},
- {0x0021, "Slave needs INIT"},
- {0x0022, "Slave needs PREOP"},
- {0x0023, "Slave needs SAVEOP"},
- {0x0030, "Invalid DC SYNCH configuration"},
- {0x0031, "Invalid DC latch configuration"},
- {0x0032, "PLL error"},
- {0x0033, "Invalid DC IO error"},
- {0x0034, "Invalid DC timeout error"},
- {0x0042, "MBOX EOE"},
- {0x0043, "MBOX COE"},
- {0x0044, "MBOX FOE"},
- {0x0045, "MBOX SOE"},
- {0x004F, "MBOX VOE"},
- {}
-};
-
-/*****************************************************************************/
-
-/**
- Change state: CODE.
-*/
-
-void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
- ec_slave_t *slave = fsm->slave;
- uint32_t code;
- const ec_code_msg_t *al_msg;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->working_counter != 1) {
- EC_WARN("Reception of AL status code datagram failed.\n");
- }
- else {
- if ((code = EC_READ_U16(datagram->data))) {
- for (al_msg = al_status_messages; al_msg->code; al_msg++) {
- if (al_msg->code != code) continue;
- EC_ERR("AL status message 0x%04X: \"%s\".\n",
- al_msg->code, al_msg->message);
- break;
- }
- if (!al_msg->code)
- EC_ERR("Unknown AL status code 0x%04X.\n", code);
- }
- }
-
- // acknowledge "old" slave state
- ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
- EC_WRITE_U16(datagram->data, slave->current_state);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->change_state = ec_fsm_change_ack;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: ACK.
-*/
-
-void ec_fsm_change_ack(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->change_state = ec_fsm_error;
- EC_ERR("Reception of state ack datagram failed.\n");
- return;
- }
-
- fsm->change_take_time = 1;
-
- // read new AL status
- ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->change_state = ec_fsm_change_check_ack;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: CHECK ACK.
-*/
-
-void ec_fsm_change_check_ack(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->change_state = ec_fsm_error;
- EC_ERR("Reception of state ack check datagram failed.\n");
- return;
- }
-
- if (fsm->change_take_time) {
- fsm->change_take_time = 0;
- fsm->change_jiffies = datagram->jiffies_sent;
- }
-
- slave->current_state = EC_READ_U8(datagram->data);
-
- if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
- fsm->change_state = ec_fsm_error;
- EC_INFO("Acknowledged state 0x%02X on slave %i.\n",
- slave->current_state, slave->ring_position);
- return;
- }
-
- if (datagram->jiffies_received
- - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
- // timeout while checking
- slave->current_state = EC_SLAVE_STATE_UNKNOWN;
- fsm->change_state = ec_fsm_error;
- EC_ERR("Timeout while acknowledging state 0x%02X on slave %i.\n",
- fsm->change_new, slave->ring_position);
- return;
- }
-
- // reread new AL status
- ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(fsm->master, datagram);
-}
-
-/******************************************************************************
* CoE dictionary state machine
*****************************************************************************/