/******************************************************************************
*
* $Id$
*
* 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_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_mapping(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_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_assign_init(&fsm->fsm_pdo_assign, &fsm->fsm_coe);
ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_mapping, &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_assign_clear(&fsm->fsm_pdo_assign);
ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_mapping);
}
/*****************************************************************************/
/** 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 %u...\n", fsm->slave->ring_position);
}
// configuration will be done immediately; therefore reset the
// force flag
fsm->slave->force_config = 0;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
ec_fsm_change_exec(&fsm->fsm_change);
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;
}
if (master->debug_level) {
EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
}
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 %u...\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 %u.\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 %u: ",
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 %u.\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 %u.\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_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
EC_DIR_INVALID, // use default direction
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);
sync.physical_start_address = slave->sii.rx_mailbox_offset;
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,
EC_DIR_INVALID, // use default direction
datagram->data);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.tx_mailbox_offset;
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,
EC_DIR_INVALID, // use default direction
datagram->data + EC_SYNC_PAGE_SIZE);
}
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 %u (datagram state %u).\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 %u: ",
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 %u 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 %u.\n",
slave->ring_position);
}
return;
}
if (!slave->config) {
EC_DBG("Slave %u is not configured.\n", slave->ring_position);
ec_fsm_slave_config_enter_safeop(fsm);
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;
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
// start Sdo configuration
fsm->state = ec_fsm_slave_config_state_sdo_conf;
fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
ec_sdo_request_t, list);
ecrt_sdo_request_write(fsm->request);
ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
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->request->list.next != &fsm->slave->config->sdo_configs) {
fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,
list);
ecrt_sdo_request_write(fsm->request);
ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
// All Sdos are now configured.
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_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
const ec_sync_config_t *sync_config;
uint16_t size;
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
} else {
offset = 0;
}
if (slave->sii.sync_count <= offset) {
// no Pdo sync managers to configure
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
num_pdo_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_pdo_syncs);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
for (i = 0; i < num_pdo_syncs; i++) {
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
sync_config = &slave->config->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
ec_sync_page(sync, sync_index, size, sync_config->dir,
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 %u (datagram state %u).\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 %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
// Start configuring Pdo mapping
ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_mapping;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: PDO_MAPPING.
*/
void ec_fsm_slave_config_state_pdo_mapping(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
// start applying alternate Pdo assignments
ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_assign;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: PDO_ASSIGN.
*/
void ec_fsm_slave_config_state_pdo_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
EC_ERR("Pdo assignment 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_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_sync(slave, fmmu->sync_index))) {
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 %u"
" (datagram state %u).\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 %u: ",
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 %u 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 %u.\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 %u is now in OP.\n", slave->ring_position);
EC_DBG("Finished configuration of slave %u.\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 */
)
{
}
/*****************************************************************************/