fp@830: /******************************************************************************
fp@830:  *
fp@830:  *  $Id$
fp@830:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@830:  *
fp@830:  *  This file is part of the IgH EtherCAT Master.
fp@830:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@1685:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@1685:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  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@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@830:  *
fp@830:  *****************************************************************************/
fp@830: 
fp@1064: /** \file
fp@1064:  *
fp@1064:  * EtherCAT slave configuration state machine.
fp@1064:  */
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@888: void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
fp@1174: void ec_fsm_slave_config_state_pdo_conf(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@1677: void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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@1180: void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
fp@888: 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@1677: void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
fp@1677: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Constructor.
fp@830:  */
fp@1064: void ec_fsm_slave_config_init(
fp@1064:         ec_fsm_slave_config_t *fsm, /**< slave state machine */
fp@1174:         ec_datagram_t *datagram, /**< datagram structure to use */
fp@1174:         ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
fp@1174:         ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
fp@1686:         ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
fp@830:         )
fp@830: {
fp@1677:     ec_sdo_request_init(&fsm->request_copy);
fp@1677: 
fp@830:     fsm->datagram = datagram;
fp@1174:     fsm->fsm_change = fsm_change;
fp@1174:     fsm->fsm_coe = fsm_coe;
fp@1174:     fsm->fsm_pdo = fsm_pdo;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Destructor.
fp@830:  */
fp@1064: void ec_fsm_slave_config_clear(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@1677:     ec_sdo_request_clear(&fsm->request_copy);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Start slave configuration state machine.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_start(
fp@1064:         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@1064:  * \return false, if state machine has terminated
fp@1064:  */
fp@1064: int ec_fsm_slave_config_running(
fp@1064:         const ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@1064: /** Executes the current state of the state machine.
fp@1064:  *
fp@1064:  * If the state machine's datagram is not sent or received yet, the execution
fp@1064:  * of the state machine is delayed to the next cycle.
fp@1064:  *
fp@1064:  * \return false, if state machine has terminated
fp@1064:  */
fp@1064: int ec_fsm_slave_config_exec(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@1064:  * \return true, if the state machine terminated gracefully
fp@1064:  */
fp@1064: int ec_fsm_slave_config_success(
fp@1064:         const ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@1064: /** Slave configuration state: START.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_start(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     if (fsm->slave->master->debug_level) {
fp@986:         EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
fp@830:     }
fp@1064:     
fp@1677:     ec_fsm_slave_config_enter_init(fsm);
fp@1677: }
fp@1677: 
fp@1677: /*****************************************************************************/
fp@1677: 
fp@1677: /** Start state change to INIT.
fp@1677:  */
fp@1677: void ec_fsm_slave_config_enter_init(
fp@1677:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1677:         )
fp@1677: {
fp@1174:     ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@1174:     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@1064: /** Slave configuration state: INIT.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_init(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         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:     if (master->debug_level) {
fp@986:         EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
fp@830:     }
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@986:         EC_DBG("Clearing FMMU configurations of slave %u...\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@1064: /** Slave configuration state: CLEAR FMMU.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_clear_fmmus(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@986:         EC_ERR("Failed receive FMMU clearing datagram for slave %u.\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@986:         EC_ERR("Failed to clear FMMUs of slave %u: ",
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@1064: /** Check for mailbox sync managers to be configured.
fp@1064:  */
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@986:             EC_DBG("Finished configuration of slave %u.\n",
fp@830:                    slave->ring_position);
fp@830:         }
fp@830:         return;
fp@830:     }
fp@830: 
fp@834:     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@986:         EC_DBG("Configuring mailbox sync managers of slave %u.\n",
fp@830:                slave->ring_position);
fp@830:     }
fp@830: 
fp@834:     if (slave->sii.sync_count >= 2) { // mailbox configuration provided
fp@830:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@834:                 EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
fp@830:         memset(datagram->data, 0x00,
fp@834:                 EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
fp@830: 
fp@830:         for (i = 0; i < 2; i++) {
fp@1055:             ec_sync_page(&slave->sii.syncs[i], i,
fp@1055:                     slave->sii.syncs[i].default_length,
fp@1055:                     EC_DIR_INVALID, // use default direction
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@1055:         ec_sync_init(&sync, slave);
fp@834:         sync.physical_start_address = slave->sii.rx_mailbox_offset;
fp@830:         sync.control_register = 0x26;
fp@830:         sync.enable = 1;
fp@1055:         ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,
fp@1055:                 EC_DIR_INVALID, // use default direction
fp@1055:                 datagram->data);
fp@1055: 
fp@1055:         ec_sync_init(&sync, slave);
fp@834:         sync.physical_start_address = slave->sii.tx_mailbox_offset;
fp@830:         sync.control_register = 0x22;
fp@830:         sync.enable = 1;
fp@1055:         ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,
fp@1055:                 EC_DIR_INVALID, // use default direction
fp@1055:                 datagram->data + EC_SYNC_PAGE_SIZE);
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@1064: /** Slave configuration state: SYNC.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_mbox_sync(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@986:                " slave %u (datagram state %u).\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@986:         EC_ERR("Failed to set sync managers of slave %u: ",
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@1064: /** Request PREOP state.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_preop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     fsm->state = ec_fsm_slave_config_state_preop;
fp@1174:     ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: PREOP.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_preop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         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@986:         EC_DBG("Slave %u 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@888:             EC_DBG("Finished configuration of slave %u.\n",
fp@830:                    slave->ring_position);
fp@830:         }
fp@830:         return;
fp@830:     }
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@888:     ec_fsm_slave_config_enter_sdo_conf(fsm);
fp@888: }
fp@888: 
fp@888: /*****************************************************************************/
fp@888: 
fp@1686: /** Check for SDO configurations to be applied.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_sdo_conf(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@888: {
fp@888:     ec_slave_t *slave = fsm->slave;
fp@888: 
fp@830:     // No CoE configuration to be applied?
fp@1686:     if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
fp@1180:         ec_fsm_slave_config_enter_pdo_conf(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1686:     // start SDO configuration
fp@830:     fsm->state = ec_fsm_slave_config_state_sdo_conf;
fp@854:     fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
fp@854:             ec_sdo_request_t, list);
fp@1677:     ec_sdo_request_copy(&fsm->request_copy, fsm->request);
fp@1677:     ecrt_sdo_request_write(&fsm->request_copy);
fp@1677:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
fp@1174:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: SDO_CONF.
fp@1064:  */
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@1174:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1686:         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@1677:     if (!fsm->slave->config) { // config removed in the meantime
fp@1677:         ec_fsm_slave_config_reconfigure(fsm);
fp@1677:         return;
fp@1677:     }
fp@1677: 
fp@1686:     // Another SDO to configure?
fp@854:     if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
fp@1677:         fsm->request = list_entry(fsm->request->list.next,
fp@1677:                 ec_sdo_request_t, list);
fp@1677:         ec_sdo_request_copy(&fsm->request_copy, fsm->request);
fp@1677:         ecrt_sdo_request_write(&fsm->request_copy);
fp@1677:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
fp@1174:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@830:         return;
fp@830:     }
fp@830: 
fp@1686:     // All SDOs are now configured.
fp@1180:     ec_fsm_slave_config_enter_pdo_conf(fsm);
fp@1180: }
fp@1180: 
fp@1180: /*****************************************************************************/
fp@1180: 
fp@1180: /** PDO_CONF entry function.
fp@1180:  */
fp@1180: void ec_fsm_slave_config_enter_pdo_conf(
fp@1180:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1180:         )
fp@1180: {
fp@1686:     // Start configuring PDOs
fp@1180:     ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fp@1180:     fsm->state = ec_fsm_slave_config_state_pdo_conf;
fp@1180:     fsm->state(fsm); // execute immediately
fp@1180: }
fp@1180: 
fp@1180: /*****************************************************************************/
fp@1180: 
fp@1180: /** Slave configuration state: PDO_CONF.
fp@1180:  */
fp@1180: void ec_fsm_slave_config_state_pdo_conf(
fp@1180:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1180:         )
fp@1180: {
fp@1180:     if (ec_fsm_pdo_exec(fsm->fsm_pdo))
fp@1180:         return;
fp@1180: 
fp@1677:     if (!fsm->slave->config) { // config removed in the meantime
fp@1677:         ec_fsm_slave_config_reconfigure(fsm);
fp@1677:         return;
fp@1677:     }
fp@1677: 
fp@1180:     if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
fp@1686:         EC_WARN("PDO configuration failed on slave %u.\n",
fp@1180:                 fsm->slave->ring_position);
fp@1180:     }
fp@1180: 
fp@888:     ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@888: }
fp@888: 
fp@888: /*****************************************************************************/
fp@888: 
fp@1686: /** Check for PDO sync managers to be configured.
fp@1064:  */
fp@888: void ec_fsm_slave_config_enter_pdo_sync(
fp@888:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@888:         )
fp@888: {
fp@888:     ec_slave_t *slave = fsm->slave;
fp@888:     ec_datagram_t *datagram = fsm->datagram;
fp@888:     unsigned int i, offset, num_pdo_syncs;
fp@1055:     uint8_t sync_index;
fp@888:     const ec_sync_t *sync;
fp@1055:     const ec_sync_config_t *sync_config;
fp@888:     uint16_t size;
fp@888: 
fp@888:     if (slave->sii.mailbox_protocols) {
fp@888:         offset = 2; // slave has mailboxes
fp@888:     } else {
fp@888:         offset = 0;
fp@888:     }
fp@888: 
fp@888:     if (slave->sii.sync_count <= offset) {
fp@1686:         // no PDO sync managers to configure
fp@1180:         ec_fsm_slave_config_enter_fmmu(fsm);
fp@888:         return;
fp@888:     }
fp@888: 
fp@888:     num_pdo_syncs = slave->sii.sync_count - offset;
fp@888: 
fp@888:     // configure sync managers for process data
fp@888:     ec_datagram_fpwr(datagram, slave->station_address,
fp@888:             0x0800 + EC_SYNC_PAGE_SIZE * offset,
fp@888:             EC_SYNC_PAGE_SIZE * num_pdo_syncs);
fp@888:     memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
fp@888: 
fp@888:     for (i = 0; i < num_pdo_syncs; i++) {
fp@1055:         sync_index = i + offset;
fp@1055:         sync = &slave->sii.syncs[sync_index];
fp@1055:         sync_config = &slave->config->sync_configs[sync_index];
fp@1055:         size = ec_pdo_list_total_size(&sync_config->pdos);
fp@1055:         ec_sync_page(sync, sync_index, size, sync_config->dir,
fp@1055:                 datagram->data + EC_SYNC_PAGE_SIZE * i);
fp@888:     }
fp@888: 
fp@888:     fsm->retries = EC_FSM_RETRIES;
fp@888:     fsm->state = ec_fsm_slave_config_state_pdo_sync;
fp@888: }
fp@888: 
fp@888: /*****************************************************************************/
fp@888: 
fp@1686: /** Configure PDO sync managers.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_pdo_sync(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@888: {
fp@888:     ec_datagram_t *datagram = fsm->datagram;
fp@888:     ec_slave_t *slave = fsm->slave;
fp@888: 
fp@888:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@888:         return;
fp@888: 
fp@888:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@888:         fsm->state = ec_fsm_slave_config_state_error;
fp@888:         EC_ERR("Failed to receive process data sync manager configuration"
fp@986:                " datagram for slave %u (datagram state %u).\n",
fp@888:                slave->ring_position, datagram->state);
fp@888:         return;
fp@888:     }
fp@888: 
fp@888:     if (datagram->working_counter != 1) {
fp@888:         slave->error_flag = 1;
fp@888:         fsm->state = ec_fsm_slave_config_state_error;
fp@986:         EC_ERR("Failed to set process data sync managers of slave %u: ",
fp@888:                 slave->ring_position);
fp@888:         ec_datagram_print_wc_error(datagram);
fp@888:         return;
fp@888:     }
fp@888: 
fp@1677:     if (!fsm->slave->config) { // config removed in the meantime
fp@1677:         ec_fsm_slave_config_reconfigure(fsm);
fp@1677:         return;
fp@1677:     }
fp@1677: 
fp@830:     ec_fsm_slave_config_enter_fmmu(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Check for FMMUs to be configured.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_fmmu(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@1055:         if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
fp@830:             slave->error_flag = 1;
fp@830:             fsm->state = ec_fsm_slave_config_state_error;
fp@1686:             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@1064: /** Slave configuration state: FMMU.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_fmmu(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
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@986:         EC_ERR("Failed to receive FMMUs datagram for slave %u"
fp@986:                 " (datagram state %u).\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@986:         EC_ERR("Failed to set FMMUs of slave %u: ",
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@1064: /** Request SAFEOP state.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_safeop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     fsm->state = ec_fsm_slave_config_state_safeop;
fp@1174:     ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: SAFEOP.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_safeop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         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@986:         EC_DBG("Slave %u 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@986:             EC_DBG("Finished configuration of slave %u.\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@1174:     ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: OP
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_op(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_master_t *master = fsm->slave->master;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         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@986:         EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
fp@986:         EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
fp@830:     }
fp@830: 
fp@830:     fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830: }
fp@830: 
fp@1677: /*****************************************************************************/
fp@1677: 
fp@1677: /** Reconfigure the slave starting at INIT.
fp@1677:  */
fp@1677: void ec_fsm_slave_config_reconfigure(
fp@1677:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1677:         )
fp@1677: {
fp@1677:     if (fsm->slave->master->debug_level) {
fp@1677:         EC_DBG("Slave configuration for slave %u detached during "
fp@1677:                 "configuration. Reconfiguring.", fsm->slave->ring_position);
fp@1677:     }
fp@1677: 
fp@1677:     ec_fsm_slave_config_enter_init(fsm); // reconfigure
fp@1677: }
fp@1677: 
fp@830: /******************************************************************************
fp@830:  *  Common state functions
fp@830:  *****************************************************************************/
fp@830: 
fp@1064: /** State: ERROR.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_error(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@1064: {
fp@1064: }
fp@1064: 
fp@1064: /*****************************************************************************/
fp@1064: 
fp@1064: /** State: END.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_end(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@1064: {
fp@1064: }
fp@1064: 
fp@1064: /*****************************************************************************/