--- a/master/fsm.c Mon May 22 09:16:12 2006 +0000
+++ b/master/fsm.c Fri May 26 14:26:57 2006 +0000
@@ -57,8 +57,14 @@
/*****************************************************************************/
void ec_fsm_master_start(ec_fsm_t *);
-void ec_fsm_master_wait(ec_fsm_t *);
+void ec_fsm_master_broadcast(ec_fsm_t *);
+void ec_fsm_master_proc_states(ec_fsm_t *);
void ec_fsm_master_scan(ec_fsm_t *);
+void ec_fsm_master_states(ec_fsm_t *);
+void ec_fsm_master_validate_vendor(ec_fsm_t *);
+void ec_fsm_master_validate_product(ec_fsm_t *);
+void ec_fsm_master_reconfigure(ec_fsm_t *);
+void ec_fsm_master_address(ec_fsm_t *);
void ec_fsm_master_conf(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
@@ -69,7 +75,6 @@
void ec_fsm_slave_read_sii(ec_fsm_t *);
void ec_fsm_slave_category_header(ec_fsm_t *);
void ec_fsm_slave_category_data(ec_fsm_t *);
-void ec_fsm_slave_conf(ec_fsm_t *);
void ec_fsm_slave_end(ec_fsm_t *);
void ec_fsm_slave_conf(ec_fsm_t *);
@@ -83,7 +88,7 @@
void ec_fsm_sii_start_reading(ec_fsm_t *);
void ec_fsm_sii_check(ec_fsm_t *);
void ec_fsm_sii_fetch(ec_fsm_t *);
-void ec_fsm_sii_finished(ec_fsm_t *);
+void ec_fsm_sii_end(ec_fsm_t *);
void ec_fsm_sii_error(ec_fsm_t *);
void ec_fsm_change_start(ec_fsm_t *);
@@ -97,12 +102,19 @@
/*****************************************************************************/
-int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)
+/**
+ Constructor.
+*/
+
+int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
+ ec_master_t *master /**< EtherCAT master */
+ )
{
fsm->master = master;
fsm->master_state = ec_fsm_master_start;
fsm->master_slaves_responding = 0;
fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+ fsm->master_validation = 0;
fsm->slave_cat_data = NULL;
ec_command_init(&fsm->command);
@@ -116,7 +128,11 @@
/*****************************************************************************/
-void ec_fsm_clear(ec_fsm_t *fsm)
+/**
+ Destructor.
+*/
+
+void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
{
if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
ec_command_clear(&fsm->command);
@@ -124,7 +140,11 @@
/*****************************************************************************/
-void ec_fsm_reset(ec_fsm_t *fsm)
+/**
+ Resets the state machine.
+*/
+
+void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state = ec_fsm_master_start;
fsm->master_slaves_responding = 0;
@@ -138,7 +158,11 @@
/*****************************************************************************/
-void ec_fsm_execute(ec_fsm_t *fsm)
+/**
+ Executes the current state of the state machine.
+*/
+
+void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state(fsm);
}
@@ -148,7 +172,7 @@
*****************************************************************************/
/**
- State: Start.
+ Master state: START.
Starts with getting slave count and slave states.
*/
@@ -156,153 +180,419 @@
{
ec_command_brd(&fsm->command, 0x0130, 2);
ec_master_queue_command(fsm->master, &fsm->command);
- fsm->master_state = ec_fsm_master_wait;
-}
-
-/*****************************************************************************/
-
-void ec_fsm_master_wait(ec_fsm_t *fsm)
-{
- ec_command_t *command = &fsm->command;
- unsigned int topology_change, i, eoe_slaves_active;
+ fsm->master_state = ec_fsm_master_broadcast;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: BROADCAST.
+ Processes the broadcast read slave count and slaves states.
+*/
+
+void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ unsigned int topology_change, states_change, i;
ec_slave_t *slave;
+ ec_master_t *master = fsm->master;
if (command->state != EC_CMD_RECEIVED) {
- if (!fsm->master->device->link_state)
- // treat link down as topology change
+ if (!master->device->link_state) {
fsm->master_slaves_responding = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ slave->online = 0;
+ }
+ }
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
- if (command->working_counter == fsm->master_slaves_responding &&
- command->data[0] == fsm->master_slave_states)
- {
- // check if any slaves are not in the state, they're supposed to be
- list_for_each_entry(slave, &fsm->master->slaves, list) {
- if (slave->state_error ||
- slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
- slave->current_state == slave->requested_state) continue;
-
- EC_INFO("Changing state of slave %i from ", slave->ring_position);
- ec_print_states(slave->current_state);
- printk(" to ");
- ec_print_states(slave->requested_state);
- printk(".\n");
-
- fsm->slave = slave;
- fsm->slave_state = ec_fsm_slave_conf;
-
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
-
- fsm->master_state = ec_fsm_master_conf;
+ topology_change = (command->working_counter !=
+ fsm->master_slaves_responding);
+ states_change = (EC_READ_U8(command->data) != fsm->master_slave_states);
+
+ fsm->master_slave_states = EC_READ_U8(command->data);
+ fsm->master_slaves_responding = command->working_counter;
+
+ if (topology_change) {
+ if (fsm->master_slaves_responding == master->slave_count) {
+ EC_INFO("%i slave%s responding (VALID).\n",
+ fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+ fsm->master_validation = 1; // start validation later
+ }
+ else {
+ EC_WARN("%i slave%s responding. Invalid slave count!\n",
+ fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+ }
+ }
+
+ if (states_change) {
+ EC_INFO("Slave states: ");
+ ec_print_states(fsm->master_slave_states);
+ printk(".\n");
+ }
+
+ // topology change in free-run mode: clear all slaves and scan the bus
+ if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {
+ EC_INFO("Scanning bus.\n");
+
+ ec_master_eoe_stop(master);
+ ec_master_clear_slaves(master);
+
+ if (!fsm->master_slaves_responding) {
+ // no slaves present -> finish state machine.
+ fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
- // nothing to configure...
- eoe_slaves_active = 0;
- list_for_each_entry(slave, &fsm->master->slaves, list) {
- if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
- eoe_slaves_active++;
+ // init slaves
+ for (i = 0; i < fsm->master_slaves_responding; i++) {
+ if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
+ GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate slave %i!\n", i);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (ec_slave_init(slave, master, i, i + 1)) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (kobject_add(&slave->kobj)) {
+ EC_ERR("Failed to add kobject.\n");
+ kobject_put(&slave->kobj); // free
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ list_add_tail(&slave->list, &master->slaves);
+ }
+
+ // begin scanning of slaves
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start_reading;
+ fsm->master_state = ec_fsm_master_scan;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // fetch state from each slave
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master action: Get state of next slave.
+*/
+
+void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
+ /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+
+ // have all states been read?
+ if (slave->list.next == &master->slaves) {
+
+ // check, if a bus validation has to be done
+ if (fsm->master_validation) {
+ fsm->master_validation = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->online) continue;
+
+ // At least one slave is offline. validate!
+ EC_INFO("Validating bus.\n");
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_validate_vendor;
+ fsm->sii_offset = 0x0008; // vendor ID
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+ return;
}
}
- if (eoe_slaves_active && !list_empty(&fsm->master->eoe_handlers))
- ec_master_eoe_start(fsm->master);
-
+ fsm->master_state = ec_fsm_master_proc_states;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: STATES.
+ Fetches the AL- and online state of a slave.
+*/
+
+void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+ uint8_t new_state;
+
+ if (command->state != EC_CMD_RECEIVED) {
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
- topology_change = command->working_counter !=
- fsm->master_slaves_responding;
-
- fsm->master_slaves_responding = command->working_counter;
- fsm->master_slave_states = command->data[0];
-
- EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,
- fsm->master_slaves_responding == 1 ? "" : "s");
- ec_print_states(fsm->master_slave_states);
- printk(")\n");
-
- if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {
+ // did the slave not respond to its station address?
+ if (command->working_counter != 1) {
+ if (slave->online) {
+ slave->online = 0;
+ EC_INFO("Slave %i: offline.\n", slave->ring_position);
+ }
+ ec_fsm_master_action_next_slave_state(fsm);
+ return;
+ }
+
+ // slave responded
+ new_state = EC_READ_U8(command->data);
+ if (!slave->online) { // slave was offline before
+ slave->online = 1;
+ slave->state_error = 0;
+ slave->current_state = new_state;
+ EC_INFO("Slave %i: online (", slave->ring_position);
+ ec_print_states(new_state);
+ printk(").\n");
+ }
+ else if (new_state != slave->current_state) {
+ EC_INFO("Slave %i: ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" -> ");
+ ec_print_states(new_state);
+ printk(".\n");
+ slave->current_state = new_state;
+ }
+
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: PROC_STATES.
+ Processes the slave states.
+*/
+
+void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave;
+
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->state_error || !slave->online ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->master_state = ec_fsm_master_conf;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // nothing to configure. restart master state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_VENDOR.
+ Validates the vendor ID of a slave.
+*/
+
+void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ fsm->sii_state(fsm); // execute SII state machine
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate vendor ID of slave %i.\n",
+ slave->ring_position);
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
- EC_INFO("Topology change detected - Scanning bus.\n");
-
- ec_master_eoe_stop(fsm->master);
- ec_master_clear_slaves(fsm->master);
-
- if (!fsm->master_slaves_responding) {
- // no slaves present -> finish state machine.
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != slave->sii_vendor_id) {
+ EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
- // init slaves
- for (i = 0; i < fsm->master_slaves_responding; i++) {
- if (!(slave =
- (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {
- EC_ERR("FSM failed to allocate slave %i!\n", i);
+ // vendor ID is ok. check product code.
+ fsm->master_state = ec_fsm_master_validate_product;
+ fsm->sii_offset = 0x000A; // product code
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_PRODUCT.
+ Validates the product ID of a slave.
+*/
+
+void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ fsm->sii_state(fsm); // execute SII state machine
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate product code of slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != slave->sii_product_code) {
+ EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
+ EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
+ fsm->sii_result);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // have all states been validated?
+ if (slave->list.next == &fsm->master->slaves) {
+ fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
+ return;
+ }
+
+ // validate next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_validate_vendor;
+ fsm->sii_offset = 0x0008; // vendor ID
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: RECONFIGURE.
+ Looks for slave, that have lost their configuration and writes
+ their station address, so that they can be reconfigured later.
+*/
+
+void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ while (fsm->slave->online) {
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
return;
}
-
- if (ec_slave_init(slave, fsm->master, i, i + 1)) {
- fsm->master_state = ec_fsm_master_start;
- return;
- }
-
- if (kobject_add(&slave->kobj)) {
- EC_ERR("FSM failed to add kobject.\n");
- kobject_put(&slave->kobj); // free
- fsm->master_state = ec_fsm_master_start;
- return;
- }
-
- list_add_tail(&slave->list, &fsm->master->slaves);
- }
-
- // begin scanning of slaves
- fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
- fsm->slave_state = ec_fsm_slave_start_reading;
-
- fsm->master_state = ec_fsm_master_scan;
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ }
+
+ EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->master_state = ec_fsm_master_address;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: ADDRESS.
+ Checks, if the new station address has been written to the slave.
+*/
+
+void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to write station address on slave %i.\n",
+ slave->ring_position);
+ }
+
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
- State: Get Slave.
- Executes the sub-statemachine of a slave.
-*/
-
-void ec_fsm_master_scan(ec_fsm_t *fsm)
+ Master state: SCAN.
+ Executes the sub-statemachine for the scanning of a slave.
+*/
+
+void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_ident_t *ident;
fsm->slave_state(fsm); // execute slave state machine
if (fsm->slave_state != ec_fsm_slave_end) return;
// have all slaves been fetched?
- if (slave->list.next == &master->slaves)
- {
- uint16_t coupler_index, coupler_subindex;
- uint16_t reverse_coupler_index, current_coupler_index;
- ec_slave_t *slave;
- ec_slave_ident_t *ident;
-
+ if (slave->list.next == &master->slaves) {
EC_INFO("Bus scanning completed.\n");
// identify all slaves and calculate coupler addressing
@@ -352,6 +642,7 @@
else
slave->requested_state = EC_SLAVE_STATE_INIT;
}
+ slave->state_error = 0;
// calculate coupler-based slave address
slave->coupler_index = current_coupler_index;
@@ -359,6 +650,11 @@
coupler_subindex++;
}
+ if (master->mode == EC_MASTER_MODE_FREERUN) {
+ // start EoE processing
+ ec_master_eoe_start(master);
+ }
+
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
@@ -373,42 +669,15 @@
/*****************************************************************************/
/**
- Free-Run state: Configure slaves.
-*/
-
-void ec_fsm_master_conf(ec_fsm_t *fsm)
-{
- ec_master_t *master = fsm->master;
- ec_slave_t *slave;
-
+ Master state: CONF.
+ Starts configuring a slave.
+*/
+
+void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
+{
fsm->slave_state(fsm); // execute slave's state machine
-
if (fsm->slave_state != ec_fsm_slave_end) return;
-
- // check if any slaves are not in the state, they're supposed to be
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->state_error ||
- slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
- slave->current_state == slave->requested_state) continue;
-
- EC_INFO("Changing state of slave %i from ", slave->ring_position);
- ec_print_states(slave->current_state);
- printk(" to ");
- ec_print_states(slave->requested_state);
- printk(".\n");
-
- fsm->slave = slave;
- fsm->slave_state = ec_fsm_slave_conf;
-
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
-
- fsm->master_state = ec_fsm_master_conf;
- fsm->master_state(fsm); // execute immediately
- return;
- }
-
- fsm->master_state = ec_fsm_master_start;
+ fsm->master_state = ec_fsm_master_proc_states;
fsm->master_state(fsm); // execute immediately
}
@@ -417,12 +686,12 @@
*****************************************************************************/
/**
- Slave state: Start.
+ Slave state: START_READING.
First state of the slave state machine. Writes the station address to the
slave, according to its ring position.
*/
-void ec_fsm_slave_start_reading(ec_fsm_t *fsm)
+void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
@@ -436,10 +705,10 @@
/*****************************************************************************/
/**
- Slave state: Read status.
-*/
-
-void ec_fsm_slave_read_status(ec_fsm_t *fsm)
+ Slave state: READ_STATUS.
+*/
+
+void ec_fsm_slave_read_status(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
@@ -459,10 +728,10 @@
/*****************************************************************************/
/**
- Slave state: Read base.
-*/
-
-void ec_fsm_slave_read_base(ec_fsm_t *fsm)
+ Slave state: READ_BASE.
+*/
+
+void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -490,10 +759,10 @@
/*****************************************************************************/
/**
- Slave state: Read DL.
-*/
-
-void ec_fsm_slave_read_dl(ec_fsm_t *fsm)
+ Slave state: READ_DL.
+*/
+
+void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -523,10 +792,10 @@
/*****************************************************************************/
/**
- Slave state: Prepare SII.
-*/
-
-void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)
+ Slave state: PREPARE_SII.
+*/
+
+void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -549,6 +818,7 @@
}
fsm->sii_offset = 0x0004;
+ fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_sii_num = 0;
fsm->slave_state = ec_fsm_slave_read_sii;
@@ -558,10 +828,10 @@
/*****************************************************************************/
/**
- Slave state: Read SII.
-*/
-
-void ec_fsm_slave_read_sii(ec_fsm_t *fsm)
+ Slave state: READ_SII.
+*/
+
+void ec_fsm_slave_read_sii(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
@@ -575,7 +845,7 @@
return;
}
- if (fsm->sii_state != ec_fsm_sii_finished) return;
+ if (fsm->sii_state != ec_fsm_sii_end) return;
switch (fsm->slave_sii_num) {
case 0:
@@ -643,11 +913,11 @@
/*****************************************************************************/
/**
- Slave state: Read categories.
+ Slave state: CATEGORY_HEADER.
Start reading categories.
*/
-void ec_fsm_slave_category_header(ec_fsm_t *fsm)
+void ec_fsm_slave_category_header(ec_fsm_t *fsm /**< finite state machine */)
{
// execute SII state machine
fsm->sii_state(fsm);
@@ -661,7 +931,7 @@
return;
}
- if (fsm->sii_state != ec_fsm_sii_finished) return;
+ if (fsm->sii_state != ec_fsm_sii_end) return;
// last category?
if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
@@ -685,6 +955,7 @@
fsm->slave_cat_data_offset = 0;
fsm->sii_offset = (fsm->slave_cat_offset + 2 +
fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_state = ec_fsm_slave_category_data;
fsm->slave_state(fsm); // execute state immediately
@@ -693,11 +964,11 @@
/*****************************************************************************/
/**
- Slave state: Category data.
+ Slave state: CATEGORY_DATA.
Reads category data.
*/
-void ec_fsm_slave_category_data(ec_fsm_t *fsm)
+void ec_fsm_slave_category_data(ec_fsm_t *fsm /**< finite state machine */)
{
// execute SII state machine
fsm->sii_state(fsm);
@@ -712,7 +983,7 @@
return;
}
- if (fsm->sii_state != ec_fsm_sii_finished) return;
+ if (fsm->sii_state != ec_fsm_sii_end) return;
fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
fsm->sii_result & 0xFF;
@@ -733,6 +1004,7 @@
if (fsm->slave_cat_data_offset < fsm->slave_cat_words) {
fsm->sii_offset = (fsm->slave_cat_offset + 2 +
fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_state = ec_fsm_slave_category_data;
fsm->slave_state(fsm); // execute state immediately
@@ -777,6 +1049,7 @@
// start reading next category header
fsm->slave_cat_offset += 2 + fsm->slave_cat_words;
fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_state = ec_fsm_slave_category_header;
fsm->slave_state(fsm); // execute state immediately
@@ -791,10 +1064,10 @@
/*****************************************************************************/
/**
- Slave state: Start configuring.
-*/
-
-void ec_fsm_slave_conf(ec_fsm_t *fsm)
+ Slave state: CONF.
+*/
+
+void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@@ -840,10 +1113,11 @@
/*****************************************************************************/
/**
- Slave state: Configure sync managers.
-*/
-
-void ec_fsm_slave_sync(ec_fsm_t *fsm)
+ Slave state: SYNC.
+ Configure sync managers.
+*/
+
+void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -852,8 +1126,9 @@
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM failed to reset FMMUs of slave %i.\n",
+ EC_ERR("Failed to reset FMMUs of slave %i.\n",
slave->ring_position);
+ slave->state_error = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -923,36 +1198,37 @@
/*****************************************************************************/
/**
- Slave state: Change slave state to PREOP.
-*/
-
-void ec_fsm_slave_preop(ec_fsm_t *fsm)
+ Slave state: PREOP.
+ Change slave state to PREOP.
+*/
+
+void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM failed to set sync managers on slave %i.\n",
+ EC_ERR("Failed to set sync managers on slave %i.\n",
slave->ring_position);
+ slave->state_error = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
fsm->change_new = EC_SLAVE_STATE_PREOP;
fsm->change_state = ec_fsm_change_start;
-
fsm->slave_state = ec_fsm_slave_fmmu;
-
fsm->change_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
- Slave state: Configure FMMUs.
-*/
-
-void ec_fsm_slave_fmmu(ec_fsm_t *fsm)
+ Slave state: FMMU.
+ Configure FMMUs.
+*/
+
+void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@@ -980,16 +1256,6 @@
return;
}
-#if 0
- // slaves that are not registered are only brought into PREOP
- // state -> nice blinking and mailbox communication possible
- if (!slave->registered && !slave->type->special) {
- EC_WARN("Slave %i was not registered!\n", slave->ring_position);
- fsm->slave_state = ec_fsm_slave_end;
- return;
- }
-#endif
-
if (!slave->base_fmmu_count) {
fsm->slave_state = ec_fsm_slave_saveop;
fsm->slave_state(fsm); // execute immediately
@@ -1011,10 +1277,11 @@
/*****************************************************************************/
/**
- Slave state: Set slave state to SAVEOP.
-*/
-
-void ec_fsm_slave_saveop(ec_fsm_t *fsm)
+ Slave state: SAVEOP.
+ Set slave state to SAVEOP.
+*/
+
+void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
@@ -1022,6 +1289,7 @@
command->working_counter != 1)) {
EC_ERR("FSM failed to set FMMUs on slave %i.\n",
fsm->slave->ring_position);
+ fsm->slave->state_error = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -1036,10 +1304,11 @@
/*****************************************************************************/
/**
- Slave state: Set slave state to OP.
-*/
-
-void ec_fsm_slave_op(ec_fsm_t *fsm)
+ Slave state: OP.
+ Set slave state to OP.
+*/
+
+void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
@@ -1066,10 +1335,11 @@
/*****************************************************************************/
/**
- Slave state: Set slave state to OP.
-*/
-
-void ec_fsm_slave_op2(ec_fsm_t *fsm)
+ Slave state: OP2
+ Executes the change state machine, until the OP state is set.
+*/
+
+void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
@@ -1087,11 +1357,11 @@
/*****************************************************************************/
/**
- Slave state: End.
+ Slave state: END.
End state of the slave state machine.
*/
-void ec_fsm_slave_end(ec_fsm_t *fsm)
+void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
{
}
@@ -1100,19 +1370,25 @@
*****************************************************************************/
/**
- Slave SII state: Start reading.
+ SII state: START_READING.
Starts reading the slave information interface.
*/
-void ec_fsm_sii_start_reading(ec_fsm_t *fsm)
+void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
// initiate read operation
- ec_command_npwr(command, fsm->slave->station_address, 0x502, 6);
+ if (fsm->sii_mode) {
+ ec_command_npwr(command, fsm->slave->station_address, 0x502, 4);
+ }
+ else {
+ ec_command_apwr(command, fsm->slave->ring_position, 0x502, 4);
+ }
+
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
- EC_WRITE_U32(command->data + 2, fsm->sii_offset);
+ EC_WRITE_U16(command->data + 2, fsm->sii_offset);
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_check;
}
@@ -1120,21 +1396,30 @@
/*****************************************************************************/
/**
- Slave SII state: Check.
+ SII state: CHECK.
Checks, if the SII-read-command has been sent and issues a fetch command.
*/
-void ec_fsm_sii_check(ec_fsm_t *fsm)
+void ec_fsm_sii_check(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM SII: Reception of check command failed.\n");
+ EC_ERR("SII: Reception of read command failed.\n");
fsm->sii_state = ec_fsm_sii_error;
return;
}
- ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ fsm->sii_start = get_cycles();
+
+ // issue check/fetch command
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_fetch;
}
@@ -1142,46 +1427,78 @@
/*****************************************************************************/
/**
- Slave SII state: Fetch.
+ SII state: FETCH.
Fetches the result of an SII-read command.
*/
-void ec_fsm_sii_fetch(ec_fsm_t *fsm)
+void ec_fsm_sii_fetch(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM SII: Reception of fetch command failed.\n");
+ EC_ERR("SII: Reception of check/fetch command failed.\n");
fsm->sii_state = ec_fsm_sii_error;
return;
}
// check "busy bit"
- if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
- fsm->sii_result = EC_READ_U32(command->data + 6);
- fsm->sii_state = ec_fsm_sii_finished;
- }
-}
-
-/*****************************************************************************/
-
-/**
- Slave SII state: Finished.
+ if (EC_READ_U8(command->data + 1) & 0x81) {
+ // still busy... timeout?
+ if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
+ EC_ERR("SII: Timeout.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+#if 0
+ EC_DBG("SII busy: %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0),
+ EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2),
+ EC_READ_U8(command->data + 3));
+#endif
+ }
+
+ // issue check/fetch command again
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+ ec_master_queue_command(fsm->master, command);
+ return;
+ }
+
+#if 0
+ EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0), EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2), EC_READ_U8(command->data + 3),
+ EC_READ_U8(command->data + 6), EC_READ_U8(command->data + 7),
+ EC_READ_U8(command->data + 8), EC_READ_U8(command->data + 9));
+#endif
+
+ // SII value received.
+ fsm->sii_result = EC_READ_U32(command->data + 6);
+ fsm->sii_state = ec_fsm_sii_end;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: END.
End state of the slave SII state machine.
*/
-void ec_fsm_sii_finished(ec_fsm_t *fsm)
-{
-}
-
-/*****************************************************************************/
-
-/**
- Slave SII state: Error.
+void ec_fsm_sii_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: ERROR.
End state of the slave SII state machine.
*/
-void ec_fsm_sii_error(ec_fsm_t *fsm)
+void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
{
}
@@ -1190,10 +1507,10 @@
*****************************************************************************/
/**
- State change state: Start.
-*/
-
-void ec_fsm_change_start(ec_fsm_t *fsm)
+ Change state: START.
+*/
+
+void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -1208,23 +1525,31 @@
/*****************************************************************************/
/**
- State change state: Check.
-*/
-
-void ec_fsm_change_check(ec_fsm_t *fsm)
-{
- ec_command_t *command = &fsm->command;
- ec_slave_t *slave = fsm->slave;
-
- if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM: Reception of state command failed.\n");
+ Change state: CHECK.
+*/
+
+void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ EC_ERR("Failed to send state command to slave %i!\n",
+ fsm->slave->ring_position);
slave->state_error = 1;
fsm->change_state = ec_fsm_change_error;
return;
}
- //start = get_cycles();
- //timeout = (cycles_t) 10 * cpu_khz; // 10ms
+ if (command->working_counter != 1) {
+ EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
+ " respond.\n", fsm->change_new, fsm->slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ fsm->change_start = get_cycles();
// read AL status from slave
ec_command_nprd(command, slave->station_address, 0x0130, 2);
@@ -1235,16 +1560,17 @@
/*****************************************************************************/
/**
- State change state: Status.
-*/
-
-void ec_fsm_change_status(ec_fsm_t *fsm)
+ Change state: STATUS.
+*/
+
+void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM: Reception of state check command failed.\n");
+ EC_ERR("Failed to check state 0x%02X on slave %i.\n",
+ fsm->change_new, slave->ring_position);
slave->state_error = 1;
fsm->change_state = ec_fsm_change_error;
return;
@@ -1252,13 +1578,18 @@
slave->current_state = EC_READ_U8(command->data);
- if (slave->current_state & 0x10) { // state change error
+ if (slave->current_state == fsm->change_new) {
+ // state has been set successfully
+ fsm->change_state = ec_fsm_change_end;
+ return;
+ }
+
+ if (slave->current_state & 0x10) {
+ // state change error
+ fsm->change_new = slave->current_state & 0x0F;
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);
-
- fsm->change_new = slave->current_state & 0x0F;
-
// fetch AL status error code
ec_command_nprd(command, slave->station_address, 0x0134, 2);
ec_master_queue_command(fsm->master, command);
@@ -1266,24 +1597,27 @@
return;
}
- if (slave->current_state == fsm->change_new) {
- fsm->change_state = ec_fsm_change_end;
- return;
- }
-
- EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
- fsm->change_new, slave->ring_position);
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
-}
-
-/*****************************************************************************/
-
-/**
- State change state: Code.
-*/
-
-void ec_fsm_change_code(ec_fsm_t *fsm)
+ if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
+ // timeout while checking
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_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_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: CODE.
+*/
+
+void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
@@ -1291,7 +1625,7 @@
const ec_code_msg_t *al_msg;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM: Reception of AL status code command failed.\n");
+ EC_ERR("Reception of AL status code command failed.\n");
slave->state_error = 1;
fsm->change_state = ec_fsm_change_error;
return;
@@ -1318,16 +1652,16 @@
/*****************************************************************************/
/**
- State change state: Acknowledge.
-*/
-
-void ec_fsm_change_ack(ec_fsm_t *fsm)
+ Change state: ACK.
+*/
+
+void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM: Reception of state ack command failed.\n");
+ EC_ERR("Reception of state ack command failed.\n");
slave->state_error = 1;
fsm->change_state = ec_fsm_change_error;
return;
@@ -1342,16 +1676,17 @@
/*****************************************************************************/
/**
- State change state: Acknowledge 2.
-*/
-
-void ec_fsm_change_ack2(ec_fsm_t *fsm)
+ Change state: ACK.
+ Acknowledge 2.
+*/
+
+void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("FSM: Reception of state ack check command failed.\n");
+ EC_ERR("Reception of state ack check command failed.\n");
slave->state_error = 1;
fsm->change_state = ec_fsm_change_error;
return;
@@ -1376,20 +1711,20 @@
/*****************************************************************************/
/**
- State change state: End.
-*/
-
-void ec_fsm_change_end(ec_fsm_t *fsm)
-{
-}
-
-/*****************************************************************************/
-
-/**
- State change state: Error.
-*/
-
-void ec_fsm_change_error(ec_fsm_t *fsm)
+ Change state: END.
+*/
+
+void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ERROR.
+*/
+
+void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
{
}