--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.c Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,1101 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *);
+void ec_fsm_slave_state_error(ec_fsm_slave_t *);
+
+/*****************************************************************************/
+
+/**
+ Constructor.
+*/
+
+void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
+ ec_datagram_t *datagram /**< datagram structure to use */
+ )
+{
+ fsm->datagram = datagram;
+
+ // init sub state machines
+ ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
+ ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+ ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/**
+ Destructor.
+*/
+
+void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ // clear sub state machines
+ ec_fsm_sii_clear(&fsm->fsm_sii);
+ ec_fsm_change_clear(&fsm->fsm_change);
+ ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave scan state machine.
+ */
+
+void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_slave_scan_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave configuration state machine.
+ */
+
+void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_slave_conf_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ return fsm->state != ec_fsm_slave_state_end
+ && fsm->state != ec_fsm_slave_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_exec(ec_fsm_slave_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_running(fsm);
+ }
+
+ fsm->state(fsm);
+ return ec_fsm_slave_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ return fsm->state == ec_fsm_slave_state_end;
+}
+
+/******************************************************************************
+ * slave scan state machine
+ *****************************************************************************/
+
+/**
+ Slave scan state: START.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ // write station address
+ ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
+ ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_address;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: ADDRESS.
+*/
+
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+ ec_master_queue_datagram(fsm->slave->master, fsm->datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive station address 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_state_error;
+ EC_ERR("Failed to write station address - slave %i did not respond.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ // Read AL state
+ ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_state;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: STATE.
+*/
+
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_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--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive AL state datagram from slave %i.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to read AL state - slave %i did not respond.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(datagram->data);
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ char state_str[EC_STATE_STRING_SIZE];
+ ec_state_string(slave->current_state, state_str);
+ EC_WARN("Slave %i has state error bit set (%s)!\n",
+ slave->ring_position, state_str);
+ }
+
+ // read base data
+ ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: BASE.
+*/
+
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_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--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive base data datagram for slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to read base data - slave %i did not respond.\n",
+ slave->ring_position);
+ return;
+ }
+
+ slave->base_type = EC_READ_U8 (datagram->data);
+ slave->base_revision = EC_READ_U8 (datagram->data + 1);
+ slave->base_build = EC_READ_U16(datagram->data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
+ slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
+
+ if (slave->base_fmmu_count > EC_MAX_FMMUS)
+ slave->base_fmmu_count = EC_MAX_FMMUS;
+
+ // read data link status
+ ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
+ ec_master_queue_datagram(slave->master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_datalink;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: DATALINK.
+*/
+
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t dl_status;
+ unsigned int i;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive DL status datagram from slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to read DL status - slave %i did not respond.\n",
+ slave->ring_position);
+ return;
+ }
+
+ dl_status = EC_READ_U16(datagram->data);
+ for (i = 0; i < 4; i++) {
+ slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ // Start fetching EEPROM size
+
+ fsm->sii_offset = 0x0040; // first category header
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+ fsm->state = ec_fsm_slave_scan_state_eeprom_size;
+ fsm->state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: EEPROM SIZE.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ uint16_t cat_type, cat_size;
+
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to read EEPROM size of slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ cat_type = EC_READ_U16(fsm->fsm_sii.value);
+ cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
+
+ if (cat_type != 0xFFFF) { // not the last category
+ fsm->sii_offset += cat_size + 2;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+ return;
+ }
+
+ slave->eeprom_size = (fsm->sii_offset + 1) * 2;
+
+ if (slave->eeprom_data) {
+ EC_INFO("Freeing old EEPROM data on slave %i...\n",
+ slave->ring_position);
+ kfree(slave->eeprom_data);
+ }
+
+ if (!(slave->eeprom_data =
+ (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ // Start fetching EEPROM contents
+
+ fsm->state = ec_fsm_slave_scan_state_eeprom_data;
+ fsm->sii_offset = 0x0000;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: EEPROM DATA.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ uint16_t *cat_word, cat_type, cat_size;
+
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ // 2 words fetched
+
+ if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 4);
+ }
+ else { // copy the last word
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 2);
+ }
+
+ if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
+ // fetch the next 2 words
+ fsm->sii_offset += 2;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+ return;
+ }
+
+ // Evaluate EEPROM contents
+
+ slave->sii_alias =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
+ slave->sii_vendor_id =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
+ slave->sii_product_code =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
+ slave->sii_revision_number =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
+ slave->sii_serial_number =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
+ slave->sii_rx_mailbox_offset =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
+ slave->sii_rx_mailbox_size =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
+ slave->sii_tx_mailbox_offset =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
+ slave->sii_tx_mailbox_size =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
+ slave->sii_mailbox_protocols =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
+
+ // evaluate category data
+ cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
+ while (EC_READ_U16(cat_word) != 0xFFFF) {
+ cat_type = EC_READ_U16(cat_word) & 0x7FFF;
+ cat_size = EC_READ_U16(cat_word + 1);
+
+ switch (cat_type) {
+ case 0x000A:
+ if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
+ goto end;
+ break;
+ case 0x001E:
+ ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
+ break;
+ case 0x0028:
+ break;
+ case 0x0029:
+ if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
+ cat_size))
+ goto end;
+ break;
+ case 0x0032:
+ if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+ cat_size, EC_TX_PDO))
+ goto end;
+ break;
+ case 0x0033:
+ if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
+ cat_size, EC_RX_PDO))
+ goto end;
+ break;
+ default:
+ if (fsm->slave->master->debug_level)
+ EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+ cat_type, slave->ring_position);
+ }
+
+ cat_word += cat_size + 2;
+ }
+
+ fsm->state = ec_fsm_slave_state_end;
+ return;
+
+end:
+ EC_ERR("Failed to analyze category data.\n");
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+}
+
+/******************************************************************************
+ * slave configuration state machine
+ *****************************************************************************/
+
+/**
+ Slave configuration state: START.
+*/
+
+void ec_fsm_slave_conf_state_start(ec_fsm_slave_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_conf_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: INIT.
+*/
+
+void ec_fsm_slave_conf_state_init(ec_fsm_slave_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)) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_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_conf_enter_sync(fsm);
+ return;
+ }
+
+ if (master->debug_level)
+ EC_DBG("Clearing FMMU configurations of slave %i...\n",
+ slave->ring_position);
+
+ // clear FMMU configurations
+ ec_datagram_npwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ ec_master_queue_datagram(master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: CLEAR FMMU.
+*/
+
+void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
+ /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_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_state_error;
+ EC_ERR("Failed to clear FMMUs - slave %i did not respond.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ ec_fsm_slave_conf_enter_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ const ec_sii_sync_t *sync;
+ ec_sii_sync_t mbox_sync;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->state = ec_fsm_slave_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ if (!slave->base_sync_count) { // no sync managers
+ ec_fsm_slave_conf_enter_preop(fsm);
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Configuring sync managers of slave %i.\n",
+ slave->ring_position);
+ }
+
+ // configure sync managers
+ ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->base_sync_count);
+ memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+ if (list_empty(&slave->sii_syncs)) {
+ if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
+ if (slave->master->debug_level)
+ EC_DBG("Guessing sync manager settings for slave %i.\n",
+ slave->ring_position);
+ mbox_sync.index = 0;
+ mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
+ mbox_sync.length = slave->sii_tx_mailbox_size;
+ mbox_sync.control_register = 0x26;
+ mbox_sync.enable = 0x01;
+ mbox_sync.est_length = 0;
+ ec_sync_config(&mbox_sync, slave,
+ datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+ mbox_sync.index = 1;
+ mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
+ mbox_sync.length = slave->sii_rx_mailbox_size;
+ mbox_sync.control_register = 0x22;
+ mbox_sync.enable = 0x01;
+ mbox_sync.est_length = 0;
+ ec_sync_config(&mbox_sync, slave,
+ datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+ }
+ }
+ else if (slave->sii_mailbox_protocols) { // mailboxes present
+ list_for_each_entry(sync, &slave->sii_syncs, list) {
+ // only configure mailbox sync-managers
+ if (sync->index != 0 && sync->index != 1) continue;
+ ec_sync_config(sync, slave,
+ datagram->data + EC_SYNC_SIZE * sync->index);
+ }
+ }
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_conf_state_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SYNC.
+*/
+
+void ec_fsm_slave_conf_state_sync(ec_fsm_slave_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--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive sync manager configuration datagram for"
+ " slave %i.\n", slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to set sync managers - slave %i did not respond.\n",
+ slave->ring_position);
+ return;
+ }
+
+ ec_fsm_slave_conf_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ fsm->state = ec_fsm_slave_conf_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_conf_state_preop(ec_fsm_slave_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)) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_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_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ ec_fsm_slave_conf_enter_sync2(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_sync2(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_sii_sync_t *sync;
+
+ if (list_empty(&slave->sii_syncs)) {
+ ec_fsm_slave_conf_enter_fmmu(fsm);
+ return;
+ }
+
+ // configure sync managers for process data
+ ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->base_sync_count);
+ memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+ list_for_each_entry(sync, &slave->sii_syncs, list) {
+ ec_sync_config(sync, slave,
+ datagram->data + EC_SYNC_SIZE * sync->index);
+ }
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_conf_state_sync2;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SYNC2.
+*/
+
+void ec_fsm_slave_conf_state_sync2(ec_fsm_slave_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--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive process data sync manager configuration"
+ " datagram for slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to set process data sync managers - slave %i did not"
+ " respond.\n", slave->ring_position);
+ return;
+ }
+
+ ec_fsm_slave_conf_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+*/
+
+void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int j;
+
+ if (!slave->base_fmmu_count) { // skip FMMU configuration
+ ec_fsm_slave_conf_enter_sdoconf(fsm);
+ return;
+ }
+
+ // configure FMMUs
+ ec_datagram_npwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ for (j = 0; j < slave->fmmu_count; j++) {
+ ec_fmmu_config(&slave->fmmus[j], slave,
+ datagram->data + EC_FMMU_SIZE * j);
+ }
+
+ ec_master_queue_datagram(master, datagram);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_conf_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: FMMU.
+*/
+
+void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_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--) {
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_state_error;
+ EC_ERR("Failed to receive FMMUs 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_state_error;
+ EC_ERR("Failed to set FMMUs - slave %i did not respond.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ // No CoE configuration to be applied? Jump to SAVEOP state.
+ if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+ ec_fsm_slave_conf_enter_saveop(fsm);
+ return;
+ }
+
+ ec_fsm_slave_conf_enter_sdoconf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+ ec_fsm_slave_conf_enter_saveop(fsm);
+ return;
+ }
+
+ // start SDO configuration
+ fsm->state = ec_fsm_slave_conf_state_sdoconf;
+ fsm->sdodata = list_entry(fsm->slave->sdo_confs.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: SDOCONF.
+*/
+
+void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ return;
+ }
+
+ // Another SDO to configure?
+ if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
+ 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.
+
+ // set state to SAVEOP
+ ec_fsm_slave_conf_enter_saveop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+ fsm->state = ec_fsm_slave_conf_state_saveop;
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SAVEOP.
+*/
+
+void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_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)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_state_error;
+ return;
+ }
+
+ // slave is now in SAVEOP
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
+ }
+
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->state = ec_fsm_slave_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_conf_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_conf_state_op(ec_fsm_slave_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)) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_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_state_end; // successful
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/**
+ State: ERROR.
+*/
+
+void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State: END.
+*/
+
+void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/