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@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@879: void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
fp@879: void ec_fsm_slave_config_state_pdo_mapping(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@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@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@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@879: ec_fsm_pdo_assign_init(&fsm->fsm_pdo_assign, &fsm->fsm_coe);
fp@879: ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_mapping, &fsm->fsm_coe);
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@830: // clear sub state machines
fp@830: ec_fsm_change_clear(&fsm->fsm_change);
fp@830: ec_fsm_coe_clear(&fsm->fsm_coe);
fp@879: ec_fsm_pdo_assign_clear(&fsm->fsm_pdo_assign);
fp@879: ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_mapping);
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@1064: // configuration will be done immediately; therefore reset the
fp@1064: // force flag
fp@1064: fsm->slave->force_config = 0;
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@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@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: 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@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@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@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@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@1064: /** 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@830: if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
fp@888: ec_fsm_slave_config_enter_pdo_sync(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@854: fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
fp@854: ec_sdo_request_t, list);
fp@858: ecrt_sdo_request_write(fsm->request);
fp@859: ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
fp@830: 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@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@854: if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
fp@854: fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,
fp@854: list);
fp@858: ecrt_sdo_request_write(fsm->request);
fp@859: ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
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@888: ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@888: }
fp@888:
fp@888: /*****************************************************************************/
fp@888:
fp@1064: /** 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@888: // no Pdo sync managers to configure
fp@888: ec_fsm_slave_config_enter_safeop(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@1064: /** 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@889: // Start configuring Pdo mapping
fp@891: ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
fp@889: fsm->state = ec_fsm_slave_config_state_pdo_mapping;
fp@891: fsm->state(fsm); // execute immediately
fp@889: }
fp@889:
fp@889: /*****************************************************************************/
fp@889:
fp@1064: /** Slave configuration state: PDO_MAPPING.
fp@1064: */
fp@889: void ec_fsm_slave_config_state_pdo_mapping(
fp@830: ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830: )
fp@830: {
fp@889: if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
fp@889:
fp@889: if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
fp@889: EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
fp@889: fsm->slave->ring_position);
fp@889: fsm->slave->error_flag = 1;
fp@889: fsm->state = ec_fsm_slave_config_state_error;
fp@889: return;
fp@889: }
fp@889:
fp@879: // start applying alternate Pdo assignments
fp@891: ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
fp@879: fsm->state = ec_fsm_slave_config_state_pdo_assign;
fp@891: fsm->state(fsm); // execute immediately
fp@879: }
fp@879:
fp@879: /*****************************************************************************/
fp@879:
fp@1064: /** Slave configuration state: PDO_ASSIGN.
fp@1064: */
fp@879: void ec_fsm_slave_config_state_pdo_assign(
fp@830: ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830: )
fp@830: {
fp@879: if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
fp@879:
fp@879: if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
fp@879: EC_ERR("Pdo assignment 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_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@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@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@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@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@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@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@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@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@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@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@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: /*****************************************************************************/