--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_config.c Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,824 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave configuration state machine.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+#include "fsm_slave_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+ ec_datagram_t *datagram /**< datagram structure to use */
+ )
+{
+ fsm->datagram = datagram;
+
+ // init sub state machines
+ ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+ ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+ ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
+ ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+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);
+ ec_fsm_coe_clear(&fsm->fsm_coe);
+ ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
+ ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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 */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_slave_config_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ \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;
+}
+
+/*****************************************************************************/
+
+/**
+ 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) {
+ // datagram was not sent or received yet.
+ return ec_fsm_slave_config_running(fsm);
+ }
+
+ fsm->state(fsm);
+ return ec_fsm_slave_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ \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;
+}
+
+/******************************************************************************
+ * Slave configuration 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 %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->state = ec_fsm_slave_config_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ slave->self_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_slave_config_enter_mbox_sync(fsm);
+ return;
+ }
+
+ if (master->debug_level)
+ EC_DBG("Clearing FMMU configurations of slave %i...\n",
+ slave->ring_position);
+
+ // clear FMMU configurations
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to clear FMMUs of slave %i: ",
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_mbox_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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 */
+ )
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int i;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ if (!slave->sii_mailbox_protocols) {
+ // no mailbox protocols supported
+ if (master->debug_level)
+ EC_DBG("Slave %u does not support mailbox communication.\n",
+ slave->ring_position);
+ ec_fsm_slave_config_enter_preop(fsm);
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Configuring mailbox sync managers of slave %i.\n",
+ slave->ring_position);
+ }
+
+ if (slave->sii_sync_count >= 2) { // mailbox configuration provided
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+ memset(datagram->data, 0x00,
+ EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+
+ for (i = 0; i < 2; i++) {
+ ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
+ datagram->data + EC_SYNC_PAGE_SIZE * i);
+ }
+ } else { // no mailbox sync manager configurations provided
+ ec_sync_t sync;
+
+ if (master->debug_level)
+ EC_DBG("Slave %u does not provide"
+ " mailbox sync manager configurations.\n",
+ slave->ring_position);
+
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_PAGE_SIZE * 2);
+ memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
+
+ ec_sync_init(&sync, slave, 0);
+ sync.physical_start_address = slave->sii_rx_mailbox_offset;
+ sync.control_register = 0x26;
+ sync.enable = 1;
+ ec_sync_config(&sync, slave->sii_rx_mailbox_size,
+ datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+
+ ec_sync_init(&sync, slave, 1);
+ sync.physical_start_address = slave->sii_tx_mailbox_offset;
+ sync.control_register = 0x22;
+ sync.enable = 1;
+ ec_sync_config(&sync, slave->sii_tx_mailbox_size,
+ datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_mbox_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive sync manager configuration datagram for"
+ " slave %i (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set sync managers of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_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->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ ec_fsm_slave_config_enter_sdo_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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;
+
+ if (!slave->config) {
+ EC_DBG("Slave %u is not configured.\n", slave->ring_position);
+ ec_fsm_slave_config_enter_safeop(fsm);
+ return;
+ }
+
+ // No CoE configuration to be applied?
+ if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
+ ec_fsm_slave_config_enter_mapping(fsm);
+ return;
+ }
+
+ // start Sdo configuration
+ fsm->state = ec_fsm_slave_config_state_sdo_conf;
+ fsm->sdodata =
+ list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_sdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+ EC_ERR("Sdo configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // Another Sdo to configure?
+ if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
+ fsm->sdodata =
+ list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // All Sdos are now configured.
+ ec_fsm_slave_config_enter_mapping(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Pdo mappings to be applied.
+ */
+
+void ec_fsm_slave_config_enter_mapping(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ // start configuring Pdo mapping
+ fsm->state = ec_fsm_slave_config_state_mapping;
+ ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
+ ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: MAPPING.
+*/
+
+void ec_fsm_slave_config_state_mapping(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
+
+ if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
+ EC_ERR("Pdo mapping configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // Start Pdo configuration
+ fsm->state = ec_fsm_slave_config_state_pdo_conf;
+ ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
+ ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: PDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_pdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
+
+ if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
+ EC_ERR("Pdo configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ ec_fsm_slave_config_enter_pdo_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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 */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int i, offset, num_syncs;
+ const ec_sync_t *sync;
+ ec_direction_t dir;
+ uint16_t size;
+
+ if (!slave->sii_sync_count) {
+ ec_fsm_slave_config_enter_fmmu(fsm);
+ return;
+ }
+
+ if (slave->sii_mailbox_protocols) {
+ offset = 2; // slave has mailboxes
+ } else {
+ offset = 0;
+ }
+ num_syncs = slave->sii_sync_count - offset;
+
+ // configure sync managers for process data
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0800 + EC_SYNC_PAGE_SIZE * offset,
+ EC_SYNC_PAGE_SIZE * num_syncs);
+ memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
+
+ for (i = 0; i < num_syncs; i++) {
+ sync = &slave->sii_syncs[i + offset];
+ dir = ec_sync_direction(sync);
+ size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
+ ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_pdo_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ * 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;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive process data sync manager configuration"
+ " datagram for slave %i (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set process data sync managers of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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;
+ unsigned int i;
+ const ec_fmmu_config_t *fmmu;
+ const ec_sync_t *sync;
+
+ if (slave->base_fmmu_count < slave->config->used_fmmus) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
+ slave->ring_position, slave->base_fmmu_count,
+ slave->config->used_fmmus);
+ return;
+ }
+
+ if (!slave->base_fmmu_count) { // skip FMMU configuration
+ ec_fsm_slave_config_enter_safeop(fsm);
+ return;
+ }
+
+ // configure FMMUs
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ for (i = 0; i < slave->config->used_fmmus; i++) {
+ fmmu = &slave->config->fmmu_configs[i];
+ if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
+ " %u!\n", slave->ring_position);
+ return;
+ }
+ ec_fmmu_config_page(fmmu, sync,
+ datagram->data + EC_FMMU_PAGE_SIZE * i);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive FMMUs datagram for slave %i"
+ " (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set FMMUs of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_safeop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * 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);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // slave is now in SAFEOP
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
+ }
+
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ // set state to OP
+ fsm->state = ec_fsm_slave_config_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_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;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_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->state = ec_fsm_slave_config_state_end; // successful
+}
+
+/******************************************************************************
+ * 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 */)
+{
+}
+
+/*****************************************************************************/