--- a/master/fsm_master.c Fri Apr 25 12:45:44 2008 +0000
+++ b/master/fsm_master.c Fri Apr 25 14:07:38 2008 +0000
@@ -31,10 +31,9 @@
*
*****************************************************************************/
-/**
- \file
- EtherCAT finite state machines.
-*/
+/** \file
+ * EtherCAT master state machine.
+ */
/*****************************************************************************/
@@ -52,11 +51,11 @@
void ec_fsm_master_state_start(ec_fsm_master_t *);
void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
-void ec_fsm_master_state_read_states(ec_fsm_master_t *);
+void ec_fsm_master_state_read_state(ec_fsm_master_t *);
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
-void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
+void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
@@ -65,13 +64,12 @@
/*****************************************************************************/
-/**
- Constructor.
-*/
-
-void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
- ec_master_t *master, /**< EtherCAT master */
- ec_datagram_t *datagram /**< datagram object to use */
+/** Constructor.
+ */
+void ec_fsm_master_init(
+ ec_fsm_master_t *fsm, /**< Master state machine. */
+ ec_master_t *master, /**< EtherCAT master. */
+ ec_datagram_t *datagram /**< Datagram object to use. */
)
{
fsm->master = master;
@@ -94,11 +92,11 @@
/*****************************************************************************/
-/**
- Destructor.
-*/
-
-void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
+/** Destructor.
+ */
+void ec_fsm_master_clear(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
// clear sub-state machines
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
@@ -111,14 +109,16 @@
/*****************************************************************************/
-/**
- Executes the current state of the state machine.
- If the state machine's datagram is not sent or received yet, the execution
- of the state machine is delayed to the next cycle.
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
+/** Executes the current state of the state machine.
+ *
+ * If the state machine's datagram is not sent or received yet, the execution
+ * of the state machine is delayed to the next cycle.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_master_exec(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
@@ -135,9 +135,8 @@
/**
* \return false, if state machine has terminated
*/
-
int ec_fsm_master_running(
- const ec_fsm_master_t *fsm /**< master state machine */
+ const ec_fsm_master_t *fsm /**< Master state machine. */
)
{
return fsm->state != ec_fsm_master_state_end
@@ -149,24 +148,24 @@
/**
* \return true, if the state machine is in an idle phase
*/
-
int ec_fsm_master_idle(
- const ec_fsm_master_t *fsm /**< master state machine */
+ const ec_fsm_master_t *fsm /**< Master state machine. */
)
{
return fsm->idle;
}
/******************************************************************************
- * master state machine
+ * Master state machine
*****************************************************************************/
-/**
- Master state: START.
- Starts with getting slave count and slave states.
-*/
-
-void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
+/** Master state: START.
+ *
+ * Starts with getting slave count and slave states.
+ */
+void ec_fsm_master_state_start(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
fsm->idle = 1;
ec_datagram_brd(fsm->datagram, 0x0130, 2);
@@ -175,12 +174,13 @@
/*****************************************************************************/
-/**
- Master state: BROADCAST.
- Processes the broadcast read slave count and slaves states.
-*/
-
-void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
+/** Master state: BROADCAST.
+ *
+ * Processes the broadcast read slave count and slaves states.
+ */
+void ec_fsm_master_state_broadcast(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_datagram_t *datagram = fsm->datagram;
unsigned int i;
@@ -276,23 +276,23 @@
if (list_empty(&master->slaves)) {
fsm->state = ec_fsm_master_state_end;
} else {
- // fetch state from each slave
+ // fetch state from first slave
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
- ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
+ ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
+ 0x0130, 2);
fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_master_state_read_states;
- }
-}
-
-/*****************************************************************************/
-
-/**
- * Check for pending SII write requests and process one.
+ fsm->state = ec_fsm_master_state_read_state;
+ }
+}
+
+/*****************************************************************************/
+
+/** Check for pending SII write requests and process one.
+ *
* \return non-zero, if an SII write request is processed.
*/
-
int ec_fsm_master_action_process_sii(
- ec_fsm_master_t *fsm /**< master state machine */
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
@@ -330,13 +330,12 @@
/*****************************************************************************/
-/**
- * Check for pending Sdo requests and process one.
+/** Check for pending Sdo requests and process one.
+ *
* \return non-zero, if an Sdo request is processed.
*/
-
int ec_fsm_master_action_process_sdo(
- ec_fsm_master_t *fsm /**< master state machine */
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
@@ -425,78 +424,16 @@
/*****************************************************************************/
-/**
- * Check for slaves that are not configured and configure them.
- */
-
-int ec_fsm_master_action_configure(
- ec_fsm_master_t *fsm /**< master state machine */
- )
-{
+/** Master action: IDLE.
+ *
+ * Does secondary work.
+ */
+void ec_fsm_master_action_idle(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
+{
+ ec_master_t *master = fsm->master;
ec_slave_t *slave;
- ec_master_t *master = fsm->master;
- char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
-
- // check if any slaves are not in the state, they're supposed to be
- // FIXME do not check all slaves in every cycle...
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->error_flag
- || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
- || (slave->current_state == slave->requested_state
- && slave->self_configured)) continue;
-
- if (master->debug_level) {
- ec_state_string(slave->current_state, old_state);
- if (slave->current_state != slave->requested_state) {
- ec_state_string(slave->requested_state, new_state);
- EC_DBG("Changing state of slave %i (%s -> %s).\n",
- slave->ring_position, old_state, new_state);
- }
- else if (!slave->self_configured) {
- EC_DBG("Reconfiguring slave %i (%s).\n",
- slave->ring_position, old_state);
- }
- }
-
- fsm->idle = 0;
- fsm->slave = slave;
- fsm->state = ec_fsm_master_state_configure_slave;
- ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
- ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
- return 1;
- }
-
- master->config_busy = 0;
- wake_up_interruptible(&master->config_queue);
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Master action: PROC_STATES.
- Processes the slave states.
-*/
-
-void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
- /**< master state machine */
- )
-{
- ec_master_t *master = fsm->master;
- ec_slave_t *slave;
-
- // Start slave configuration, if it is allowed.
- down(&master->config_sem);
- if (!master->allow_config) {
- up(&master->config_sem);
- } else {
- master->config_busy = 1;
- up(&master->config_sem);
-
- // check for pending slave configurations
- if (ec_fsm_master_action_configure(fsm))
- return;
- }
// Check for pending Sdo requests
if (ec_fsm_master_action_process_sdo(fsm))
@@ -538,40 +475,118 @@
/*****************************************************************************/
-/**
- Master action: Get state of next slave.
-*/
-
-void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
- /**< master state machine */)
+/** Master action: Get state of next slave.
+ */
+void ec_fsm_master_action_next_slave_state(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
// is there another slave to query?
if (slave->list.next != &master->slaves) {
- // process next slave
+ // fetch state from next slave
fsm->idle = 1;
fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_master_state_read_states;
- return;
- }
-
- // all slave states read
- ec_fsm_master_action_process_states(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- Master state: READ STATES.
- Fetches the AL- and online state of a slave.
-*/
-
-void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
+ fsm->state = ec_fsm_master_state_read_state;
+ return;
+ }
+
+ // all slaves processed
+ ec_fsm_master_action_idle(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master action: Configure.
+ */
+void ec_fsm_master_action_configure(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+
+ // Does the slave have to be configured?
+ if (!slave->error_flag
+ && (slave->current_state != slave->requested_state
+ || !slave->self_configured)) {
+ // Start slave configuration, if it is allowed.
+ down(&master->config_sem);
+ if (!master->allow_config) {
+ up(&master->config_sem);
+ } else {
+ master->config_busy = 1;
+ up(&master->config_sem);
+
+ if (master->debug_level) {
+ char old_state[EC_STATE_STRING_SIZE];
+ ec_state_string(slave->current_state, old_state);
+ if (slave->current_state != slave->requested_state) {
+ char new_state[EC_STATE_STRING_SIZE];
+ ec_state_string(slave->requested_state, new_state);
+ EC_DBG("Changing state of slave %u (%s -> %s).\n",
+ slave->ring_position, old_state, new_state);
+ } else if (!slave->self_configured) {
+ EC_DBG("Reconfiguring slave %u (%s).\n",
+ slave->ring_position, old_state);
+ }
+ }
+
+ fsm->idle = 0;
+ fsm->state = ec_fsm_master_state_configure_slave;
+ ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
+ fsm->state(fsm); // execute immediately
+ return;
+ }
+ }
+
+ // slave has error flag set; process next one
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master action: Acknowledge.
+ */
+void ec_fsm_master_action_acknowledge(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+
+ if (!slave->error_flag) {
+ // Check, if new slave state has to be acknowledged
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ fsm->idle = 0;
+ fsm->state = ec_fsm_master_state_acknowledge;
+ ec_fsm_change_ack(&fsm->fsm_change, slave);
+ fsm->state(fsm); // execute immediately
+ return;
+ }
+
+ // No acknowlegde necessary; check for configuration
+ ec_fsm_master_action_configure(fsm);
+ return;
+ }
+
+ // slave has error flag set; process next one
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master state: READ STATE.
+ *
+ * Fetches the AL state of a slave.
+ */
+void ec_fsm_master_state_read_state(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
@@ -580,7 +595,7 @@
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
- EC_ERR("Failed to receive AL state datagram for slave %i"
+ EC_ERR("Failed to receive AL state datagram for slave %u"
" (datagram state %i)\n",
slave->ring_position, datagram->state);
fsm->state = ec_fsm_master_state_error;
@@ -600,52 +615,39 @@
return;
}
- // a single slave responded
- ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
-
- // check, if new slave state has to be acknowledged
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
- fsm->idle = 0;
- fsm->state = ec_fsm_master_state_acknowledge;
- ec_fsm_change_ack(&fsm->fsm_change, slave);
- ec_fsm_change_exec(&fsm->fsm_change);
- return;
- }
-
- ec_fsm_master_action_next_slave_state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- Master state: ACKNOWLEDGE
-*/
-
-void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
+ // A single slave responded
+ ec_slave_set_state(slave, EC_READ_U8(datagram->data));
+ ec_fsm_master_action_acknowledge(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master state: ACKNOWLEDGE.
+ */
+void ec_fsm_master_state_acknowledge(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+ if (ec_fsm_change_exec(&fsm->fsm_change))
+ return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
fsm->slave->error_flag = 1;
- EC_ERR("Failed to acknowledge state change on slave %i.\n",
+ EC_ERR("Failed to acknowledge state change on slave %u.\n",
slave->ring_position);
- fsm->state = ec_fsm_master_state_error;
- return;
- }
-
- ec_fsm_master_action_next_slave_state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Master state: CLEAR ADDRESSES.
- */
-
+ }
+
+ ec_fsm_master_action_configure(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master state: CLEAR ADDRESSES.
+ */
void ec_fsm_master_state_clear_addresses(
- ec_fsm_master_t *fsm /**< master state machine */
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
@@ -672,26 +674,25 @@
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
- fsm->state = ec_fsm_master_state_scan_slaves;
+ fsm->state = ec_fsm_master_state_scan_slave;
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
}
/*****************************************************************************/
-/**
- * Master state: SCAN SLAVES.
+/** Master state: SCAN SLAVE.
+ *
* Executes the sub-statemachine for the scanning of a slave.
*/
-
-void ec_fsm_master_state_scan_slaves(
- ec_fsm_master_t *fsm /**< master state machine */
+void ec_fsm_master_state_scan_slave(
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
+ if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
return;
#ifdef EC_EOE
@@ -738,37 +739,38 @@
/*****************************************************************************/
-/**
- Master state: CONFIGURE SLAVES.
- Starts configuring a slave.
-*/
-
-void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
- /**< master state machine */
- )
-{
- if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
- return;
+/** Master state: CONFIGURE SLAVE.
+ *
+ * Starts configuring a slave.
+ */
+void ec_fsm_master_state_configure_slave(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
+{
+ ec_master_t *master = fsm->master;
+
+ if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
+ return;
+
+ // configuration finished
+ master->config_busy = 0;
+ wake_up_interruptible(&master->config_queue);
if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
// TODO: mark slave_config as failed.
}
- // configure next slave, if necessary
- if (ec_fsm_master_action_configure(fsm))
- return;
-
- fsm->state = ec_fsm_master_state_end;
-}
-
-/*****************************************************************************/
-
-/**
- Master state: WRITE SII.
-*/
-
+ fsm->idle = 1;
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/** Master state: WRITE SII.
+ */
void ec_fsm_master_state_write_sii(
- ec_fsm_master_t *fsm /**< master state machine */)
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request = fsm->sii_request;
@@ -814,12 +816,10 @@
/*****************************************************************************/
-/**
- Master state: SdoDICT.
-*/
-
+/** Master state: SDO DICTIONARY.
+ */
void ec_fsm_master_state_sdo_dictionary(
- ec_fsm_master_t *fsm /**< master state machine */
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
@@ -846,11 +846,11 @@
/*****************************************************************************/
-/**
- Master state: SDO REQUEST.
-*/
-
-void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
+/** Master state: SDO REQUEST.
+ */
+void ec_fsm_master_state_sdo_request(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
ec_master_t *master = fsm->master;
ec_sdo_request_t *request = fsm->sdo_request;
@@ -883,12 +883,10 @@
/*****************************************************************************/
-/**
- State: ERROR.
-*/
-
+/** State: ERROR.
+ */
void ec_fsm_master_state_error(
- ec_fsm_master_t *fsm /**< master state machine */
+ ec_fsm_master_t *fsm /**< Master state machine. */
)
{
fsm->state = ec_fsm_master_state_start;
@@ -896,14 +894,13 @@
/*****************************************************************************/
-/**
- State: END.
-*/
-
-void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
+/** State: END.
+ */
+void ec_fsm_master_state_end(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
{
fsm->state = ec_fsm_master_state_start;
}
/*****************************************************************************/
-