fp@830: /******************************************************************************
fp@830:  *
fp@830:  *  $Id$
fp@830:  *
fp@830:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@830:  *
fp@830:  *  This file is part of the IgH EtherCAT Master.
fp@830:  *
fp@830:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@830:  *  and/or modify it under the terms of the GNU General Public License
fp@830:  *  as published by the Free Software Foundation; either version 2 of the
fp@830:  *  License, or (at your option) any later version.
fp@830:  *
fp@830:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@830:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@830:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@830:  *  GNU General Public License for more details.
fp@830:  *
fp@830:  *  You should have received a copy of the GNU General Public License
fp@830:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@830:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@830:  *
fp@830:  *  The right to use EtherCAT Technology is granted and comes free of
fp@830:  *  charge under condition of compatibility of product made by
fp@830:  *  Licensee. People intending to distribute/sell products based on the
fp@830:  *  code, have to sign an agreement to guarantee that products using
fp@830:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@830:  *  EtherCAT specification (which are released themselves as an open
fp@830:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@830:  *  Technology, IP and trade marks.
fp@830:  *
fp@830:  *****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    \file
fp@830:    EtherCAT slave configuration state machine.
fp@830: */
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: #include "globals.h"
fp@830: #include "master.h"
fp@830: #include "mailbox.h"
fp@830: #include "slave_config.h"
fp@830: #include "fsm_slave_config.h"
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_mapping(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
fp@830: 
fp@830: void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_mapping(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
fp@830: 
fp@830: void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Constructor.
fp@830:  */
fp@830: void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
fp@830:         ec_datagram_t *datagram /**< datagram structure to use */
fp@830:         )
fp@830: {
fp@830:     fsm->datagram = datagram;
fp@830: 
fp@830:     // init sub state machines
fp@830:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@830:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@830:     ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
fp@830:     ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Destructor.
fp@830:  */
fp@830: void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     // clear sub state machines
fp@830:     ec_fsm_change_clear(&fsm->fsm_change);
fp@830:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@830:     ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
fp@830:     ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Start slave configuration state machine.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
fp@830:         ec_slave_t *slave /**< slave to configure */
fp@830:         )
fp@830: {
fp@830:     fsm->slave = slave;
fp@830:     fsm->state = ec_fsm_slave_config_state_start;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    \return false, if state machine has terminated
fp@830: */
fp@830: 
fp@830: int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     return fsm->state != ec_fsm_slave_config_state_end
fp@830:         && fsm->state != ec_fsm_slave_config_state_error;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Executes the current state of the state machine.
fp@830:    If the state machine's datagram is not sent or received yet, the execution
fp@830:    of the state machine is delayed to the next cycle.
fp@830:    \return false, if state machine has terminated
fp@830: */
fp@830: 
fp@830: int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@830:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@830:         // datagram was not sent or received yet.
fp@830:         return ec_fsm_slave_config_running(fsm);
fp@830:     }
fp@830: 
fp@830:     fsm->state(fsm);
fp@830:     return ec_fsm_slave_config_running(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    \return true, if the state machine terminated gracefully
fp@830: */
fp@830: 
fp@830: int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     return fsm->state == ec_fsm_slave_config_state_end;
fp@830: }
fp@830: 
fp@830: /******************************************************************************
fp@830:  * Slave configuration state machine
fp@830:  *****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: START.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     if (fsm->slave->master->debug_level) {
fp@830:         EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@830:     ec_fsm_change_exec(&fsm->fsm_change);
fp@830:     fsm->state = ec_fsm_slave_config_state_init;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: INIT.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830: 
fp@830:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@830: 
fp@830:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@830:         if (!fsm->fsm_change.spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     slave->self_configured = 1;
fp@830: 
fp@830:     if (master->debug_level) {
fp@830:         EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     // check and reset CRC fault counters
fp@830:     //ec_slave_check_crc(slave);
fp@830:     // TODO: Implement state machine for CRC checking.
fp@830: 
fp@830:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@830:         ec_fsm_slave_config_enter_mbox_sync(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (master->debug_level)
fp@830:         EC_DBG("Clearing FMMU configurations of slave %i...\n",
fp@830:                slave->ring_position);
fp@830: 
fp@830:     // clear FMMU configurations
fp@830:     ec_datagram_fpwr(datagram, slave->station_address,
fp@830:             0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@830:     memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_clear_fmmus;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: CLEAR FMMU.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
fp@830:                                         /**< slave state machine */)
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
fp@830:                fsm->slave->ring_position);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to clear FMMUs of slave %i: ",
fp@830:                fsm->slave->ring_position);
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_mbox_sync(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Check for mailbox sync managers to be configured.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_mbox_sync(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     unsigned int i;
fp@830: 
fp@830:     // slave is now in INIT
fp@830:     if (slave->current_state == slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830:         if (master->debug_level) {
fp@830:             EC_DBG("Finished configuration of slave %i.\n",
fp@830:                    slave->ring_position);
fp@830:         }
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (!slave->sii_mailbox_protocols) {
fp@830:         // no mailbox protocols supported
fp@830:         if (master->debug_level)
fp@830:             EC_DBG("Slave %u does not support mailbox communication.\n",
fp@830:                     slave->ring_position);
fp@830:         ec_fsm_slave_config_enter_preop(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (master->debug_level) {
fp@830:         EC_DBG("Configuring mailbox sync managers of slave %i.\n",
fp@830:                slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     if (slave->sii_sync_count >= 2) { // mailbox configuration provided
fp@830:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@830:                 EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
fp@830:         memset(datagram->data, 0x00,
fp@830:                 EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
fp@830: 
fp@830:         for (i = 0; i < 2; i++) {
fp@830:             ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
fp@830:                     datagram->data + EC_SYNC_PAGE_SIZE * i);
fp@830:         }
fp@830:     } else { // no mailbox sync manager configurations provided
fp@830:         ec_sync_t sync;
fp@830: 
fp@830:         if (master->debug_level)
fp@830:             EC_DBG("Slave %u does not provide"
fp@830:                     " mailbox sync manager configurations.\n",
fp@830:                     slave->ring_position);
fp@830: 
fp@830:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@830:                 EC_SYNC_PAGE_SIZE * 2);
fp@830:         memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
fp@830: 
fp@830:         ec_sync_init(&sync, slave, 0);
fp@830:         sync.physical_start_address = slave->sii_rx_mailbox_offset;
fp@830:         sync.control_register = 0x26;
fp@830:         sync.enable = 1;
fp@830:         ec_sync_config(&sync, slave->sii_rx_mailbox_size,
fp@830:                 datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
fp@830: 
fp@830:         ec_sync_init(&sync, slave, 1);
fp@830:         sync.physical_start_address = slave->sii_tx_mailbox_offset;
fp@830:         sync.control_register = 0x22;
fp@830:         sync.enable = 1;
fp@830:         ec_sync_config(&sync, slave->sii_tx_mailbox_size,
fp@830:                 datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
fp@830:     }
fp@830: 
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_mbox_sync;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: SYNC.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to receive sync manager configuration datagram for"
fp@830:                " slave %i (datagram state %i).\n",
fp@830:                slave->ring_position, datagram->state);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to set sync managers of slave %i: ",
fp@830:                slave->ring_position);
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_preop(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Request PREOP state.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     fsm->state = ec_fsm_slave_config_state_preop;
fp@830:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
fp@830:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: PREOP.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830: 
fp@830:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@830: 
fp@830:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@830:         if (!fsm->fsm_change.spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // slave is now in PREOP
fp@830:     slave->jiffies_preop = fsm->datagram->jiffies_received;
fp@830: 
fp@830:     if (master->debug_level) {
fp@830:         EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     if (slave->current_state == slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830:         if (master->debug_level) {
fp@830:             EC_DBG("Finished configuration of slave %i.\n",
fp@830:                    slave->ring_position);
fp@830:         }
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_sdo_conf(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Check for Sdo configurations to be applied.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (!slave->config) {
fp@830:         EC_DBG("Slave %u is not configured.\n", slave->ring_position);
fp@830:         ec_fsm_slave_config_enter_safeop(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // No CoE configuration to be applied?
fp@830:     if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
fp@830:         ec_fsm_slave_config_enter_mapping(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // start Sdo configuration
fp@830:     fsm->state = ec_fsm_slave_config_state_sdo_conf;
fp@830:     fsm->sdodata =
fp@830:         list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
fp@830:     ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
fp@830:     ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: SDO_CONF.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_sdo_conf(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@830: 
fp@830:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@830:         EC_ERR("Sdo configuration failed for slave %u.\n",
fp@830:                 fsm->slave->ring_position);
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // Another Sdo to configure?
fp@830:     if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
fp@830:         fsm->sdodata =
fp@830:             list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
fp@830:         ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
fp@830:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // All Sdos are now configured.
fp@830:     ec_fsm_slave_config_enter_mapping(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Check for Pdo mappings to be applied.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_mapping(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     // start configuring Pdo mapping
fp@830:     fsm->state = ec_fsm_slave_config_state_mapping;
fp@830:     ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
fp@830:     ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: MAPPING.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_mapping(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
fp@830: 
fp@830:     if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
fp@830:         EC_ERR("Pdo mapping configuration failed for slave %u.\n",
fp@830:                 fsm->slave->ring_position);
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // Start Pdo configuration
fp@830:     fsm->state = ec_fsm_slave_config_state_pdo_conf;
fp@830:     ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
fp@830:     ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: PDO_CONF.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_pdo_conf(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
fp@830: 
fp@830:     if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
fp@830:         EC_ERR("Pdo configuration failed for slave %u.\n",
fp@830:                 fsm->slave->ring_position);
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Check for Pdo sync managers to be configured.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_pdo_sync(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     unsigned int i, offset, num_syncs;
fp@830:     const ec_sync_t *sync;
fp@830:     ec_direction_t dir;
fp@830:     uint16_t size;
fp@830: 
fp@830:     if (!slave->sii_sync_count) {
fp@830:         ec_fsm_slave_config_enter_fmmu(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (slave->sii_mailbox_protocols) {
fp@830:         offset = 2; // slave has mailboxes
fp@830:     } else {
fp@830:         offset = 0;
fp@830:     }
fp@830:     num_syncs = slave->sii_sync_count - offset;
fp@830: 
fp@830:     // configure sync managers for process data
fp@830:     ec_datagram_fpwr(datagram, slave->station_address,
fp@830:             0x0800 + EC_SYNC_PAGE_SIZE * offset,
fp@830:             EC_SYNC_PAGE_SIZE * num_syncs);
fp@830:     memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
fp@830: 
fp@830:     for (i = 0; i < num_syncs; i++) {
fp@830:         sync = &slave->sii_syncs[i + offset];
fp@830:         dir = ec_sync_direction(sync);
fp@830:         size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
fp@830:         ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
fp@830:     }
fp@830: 
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_pdo_sync;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Configure Pdo sync managers.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to receive process data sync manager configuration"
fp@830:                " datagram for slave %i (datagram state %i).\n",
fp@830:                slave->ring_position, datagram->state);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to set process data sync managers of slave %i: ",
fp@830:                 slave->ring_position);
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_fmmu(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Check for FMMUs to be configured.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     unsigned int i;
fp@830:     const ec_fmmu_config_t *fmmu;
fp@830:     const ec_sync_t *sync;
fp@830: 
fp@830:     if (slave->base_fmmu_count < slave->config->used_fmmus) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
fp@830:                 slave->ring_position, slave->base_fmmu_count,
fp@830:                 slave->config->used_fmmus);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@830:         ec_fsm_slave_config_enter_safeop(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // configure FMMUs
fp@830:     ec_datagram_fpwr(datagram, slave->station_address,
fp@830:                      0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@830:     memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@830:     for (i = 0; i < slave->config->used_fmmus; i++) {
fp@830:         fmmu = &slave->config->fmmu_configs[i];
fp@830:         if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
fp@830:             slave->error_flag = 1;
fp@830:             fsm->state = ec_fsm_slave_config_state_error;
fp@830:             EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
fp@830:                     " %u!\n", slave->ring_position);
fp@830:             return;
fp@830:         }
fp@830:         ec_fmmu_config_page(fmmu, sync,
fp@830:                 datagram->data + EC_FMMU_PAGE_SIZE * i);
fp@830:     }
fp@830: 
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_fmmu;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: FMMU.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to receive FMMUs datagram for slave %i"
fp@830:                 " (datagram state %i).\n",
fp@830:                slave->ring_position, datagram->state);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         EC_ERR("Failed to set FMMUs of slave %i: ",
fp@830:                slave->ring_position);
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     ec_fsm_slave_config_enter_safeop(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:  * Request SAFEOP state.
fp@830:  */
fp@830: 
fp@830: void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     fsm->state = ec_fsm_slave_config_state_safeop;
fp@830:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
fp@830:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: SAFEOP.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@830: 
fp@830:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@830:         if (!fsm->fsm_change.spontaneous_change)
fp@830:             fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // slave is now in SAFEOP
fp@830: 
fp@830:     if (master->debug_level) {
fp@830:         EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     if (fsm->slave->current_state == fsm->slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830:         if (master->debug_level) {
fp@830:             EC_DBG("Finished configuration of slave %i.\n",
fp@830:                    slave->ring_position);
fp@830:         }
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // set state to OP
fp@830:     fsm->state = ec_fsm_slave_config_state_op;
fp@830:     ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
fp@830:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    Slave configuration state: OP
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@830: 
fp@830:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@830:         if (!fsm->fsm_change.spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // slave is now in OP
fp@830: 
fp@830:     if (master->debug_level) {
fp@830:         EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
fp@830:         EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830: }
fp@830: 
fp@830: /******************************************************************************
fp@830:  *  Common state functions
fp@830:  *****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    State: ERROR.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    State: END.
fp@830: */
fp@830: 
fp@830: void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *fsm /**< slave state machine */)
fp@830: {
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/