--- a/master/fsm_slave_config.c Fri Jun 27 06:56:18 2008 +0000
+++ b/master/fsm_slave_config.c Fri Jun 27 07:22:02 2008 +0000
@@ -31,10 +31,10 @@
*
*****************************************************************************/
-/**
- \file
- EtherCAT slave configuration state machine.
-*/
+/** \file
+ *
+ * EtherCAT slave configuration state machine.
+ */
/*****************************************************************************/
@@ -73,7 +73,8 @@
/** Constructor.
*/
-void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+void ec_fsm_slave_config_init(
+ ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_datagram_t *datagram /**< datagram structure to use */
)
{
@@ -90,7 +91,9 @@
/** Destructor.
*/
-void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+void ec_fsm_slave_config_clear(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
// clear sub state machines
ec_fsm_change_clear(&fsm->fsm_change);
@@ -101,11 +104,10 @@
/*****************************************************************************/
-/**
- * Start slave configuration state machine.
- */
-
-void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+/** Start slave configuration state machine.
+ */
+void ec_fsm_slave_config_start(
+ ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_slave_t *slave /**< slave to configure */
)
{
@@ -116,10 +118,11 @@
/*****************************************************************************/
/**
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_slave_config_running(
+ const ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
return fsm->state != ec_fsm_slave_config_state_end
&& fsm->state != ec_fsm_slave_config_state_error;
@@ -127,14 +130,16 @@
/*****************************************************************************/
-/**
- 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_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave 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_slave_config_exec(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
@@ -149,10 +154,11 @@
/*****************************************************************************/
/**
- \return true, if the state machine terminated gracefully
-*/
-
-int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_slave_config_success(
+ const ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
return fsm->state == ec_fsm_slave_config_state_end;
}
@@ -161,15 +167,19 @@
* Slave configuration state machine
*****************************************************************************/
-/**
- Slave configuration state: START.
-*/
-
-void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: START.
+ */
+void ec_fsm_slave_config_state_start(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
}
+
+ // configuration will be done immediately; therefore reset the
+ // force flag
+ fsm->slave->force_config = 0;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
ec_fsm_change_exec(&fsm->fsm_change);
@@ -178,11 +188,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: INIT.
-*/
-
-void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: INIT.
+ */
+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;
@@ -201,10 +211,6 @@
EC_DBG("Slave %u 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_slave_config_enter_mbox_sync(fsm);
return;
@@ -224,12 +230,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: CLEAR FMMU.
-*/
-
-void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
- /**< slave state machine */)
+/** Slave configuration state: CLEAR FMMU.
+ */
+void ec_fsm_slave_config_state_clear_fmmus(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_datagram_t *datagram = fsm->datagram;
@@ -257,10 +262,8 @@
/*****************************************************************************/
-/**
- * Check for mailbox sync managers to be configured.
- */
-
+/** Check for mailbox sync managers to be configured.
+ */
void ec_fsm_slave_config_enter_mbox_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
@@ -341,11 +344,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: SYNC.
-*/
-
-void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: SYNC.
+ */
+void ec_fsm_slave_config_state_mbox_sync(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -375,11 +378,11 @@
/*****************************************************************************/
-/**
- * Request PREOP state.
- */
-
-void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Request PREOP state.
+ */
+void ec_fsm_slave_config_enter_preop(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
fsm->state = ec_fsm_slave_config_state_preop;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
@@ -388,11 +391,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: PREOP.
-*/
-
-void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: PREOP.
+ */
+void ec_fsm_slave_config_state_preop(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->slave->master;
@@ -433,11 +436,11 @@
/*****************************************************************************/
-/**
- * Check for Sdo configurations to be applied.
- */
-
-void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Check for Sdo configurations to be applied.
+ */
+void ec_fsm_slave_config_enter_sdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_slave_t *slave = fsm->slave;
@@ -458,10 +461,8 @@
/*****************************************************************************/
-/**
- Slave configuration state: SDO_CONF.
-*/
-
+/** Slave configuration state: SDO_CONF.
+ */
void ec_fsm_slave_config_state_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
@@ -492,10 +493,8 @@
/*****************************************************************************/
-/**
- * Check for Pdo sync managers to be configured.
- */
-
+/** Check for Pdo sync managers to be configured.
+ */
void ec_fsm_slave_config_enter_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
@@ -543,11 +542,11 @@
/*****************************************************************************/
-/**
- * Configure Pdo sync managers.
- */
-
-void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Configure Pdo sync managers.
+ */
+void ec_fsm_slave_config_state_pdo_sync(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -580,10 +579,8 @@
/*****************************************************************************/
-/**
- Slave configuration state: PDO_MAPPING.
-*/
-
+/** Slave configuration state: PDO_MAPPING.
+ */
void ec_fsm_slave_config_state_pdo_mapping(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
@@ -606,10 +603,8 @@
/*****************************************************************************/
-/**
- Slave configuration state: PDO_ASSIGN.
-*/
-
+/** Slave configuration state: PDO_ASSIGN.
+ */
void ec_fsm_slave_config_state_pdo_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
@@ -629,11 +624,11 @@
/*****************************************************************************/
-/**
- * Check for FMMUs to be configured.
- */
-
-void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Check for FMMUs to be configured.
+ */
+void ec_fsm_slave_config_enter_fmmu(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
@@ -678,11 +673,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: FMMU.
-*/
-
-void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: FMMU.
+ */
+void ec_fsm_slave_config_state_fmmu(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -712,11 +707,11 @@
/*****************************************************************************/
-/**
- * Request SAFEOP state.
- */
-
-void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Request SAFEOP state.
+ */
+void ec_fsm_slave_config_enter_safeop(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
{
fsm->state = ec_fsm_slave_config_state_safeop;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
@@ -725,11 +720,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: SAFEOP.
-*/
-
-void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration state: SAFEOP.
+ */
+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;
@@ -766,11 +761,11 @@
/*****************************************************************************/
-/**
- Slave configuration state: OP
-*/
-
-void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+/** Slave configuration 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;
@@ -798,22 +793,22 @@
* Common state functions
*****************************************************************************/
-/**
- State: ERROR.
-*/
-
-void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
- State: END.
-*/
-
-void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *fsm /**< slave state machine */)
-{
-}
-
-/*****************************************************************************/
+/** State: ERROR.
+ */
+void ec_fsm_slave_config_state_error(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_slave_config_state_end(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+}
+
+/*****************************************************************************/