--- a/TODO Wed Jun 18 13:44:43 2008 +0000
+++ b/TODO Wed Jun 18 13:53:31 2008 +0000
@@ -16,7 +16,6 @@
* Update documentation.
* Check for sizes of uploaded Sdos when reading mapping from CoE.
* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.
-* Remove the end state of the master state machine.
* Add a -n (numeric) switch to ethercat command.
Future issues:
--- a/documentation/graphs/fsm_master.dot Wed Jun 18 13:44:43 2008 +0000
+++ b/documentation/graphs/fsm_master.dot Wed Jun 18 13:53:31 2008 +0000
@@ -10,7 +10,7 @@
start -> broadcast [weight=10]
broadcast [fontname="Helvetica"]
- broadcast -> end
+ broadcast -> start
broadcast -> clear_addresses
broadcast -> read_state [weight=10]
@@ -24,7 +24,7 @@
action_idle -> action_process_sdo
action_idle -> sdo_dictionary
action_idle -> action_process_sii
- action_idle -> end
+ action_idle -> start
action_next_slave_state [shape=point,label=""]
action_next_slave_state -> read_state
@@ -35,8 +35,8 @@
action_configure -> action_next_slave_state
read_state [fontname="Helvetica"]
- read_state -> acknowledge
- read_state -> action_configure [weight=10]
+ read_state -> acknowledge [weight=10]
+ read_state -> action_configure
read_state -> action_next_slave_state
acknowledge [fontname="Helvetica"]
@@ -46,21 +46,19 @@
clear_addresses -> scan_slave [weight=10]
scan_slave [fontname="Helvetica"]
- scan_slave -> end
+ scan_slave -> start
configure_slave [fontname="Helvetica"]
- configure_slave -> action_next_slave_state [weight=10]
+ configure_slave -> action_next_slave_state
write_sii [fontname="Helvetica"]
write_sii -> action_process_sii
- write_sii -> end
+ write_sii -> start
sdo_dictionary [fontname="Helvetica"]
- sdo_dictionary -> end
+ sdo_dictionary -> start
sdo_request [fontname="Helvetica"]
sdo_request -> action_process_sdo
- sdo_request -> end
-
- end [fontname="Helvetica"]
+ sdo_request -> start
}
--- a/master/fsm_master.c Wed Jun 18 13:44:43 2008 +0000
+++ b/master/fsm_master.c Wed Jun 18 13:53:31 2008 +0000
@@ -59,8 +59,6 @@
void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
-void ec_fsm_master_state_end(ec_fsm_master_t *);
-void ec_fsm_master_state_error(ec_fsm_master_t *);
/*****************************************************************************/
@@ -113,34 +111,18 @@
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_master_exec(
+ */
+void ec_fsm_master_exec(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
- return ec_fsm_master_running(fsm);
+ return;
}
fsm->state(fsm);
- return ec_fsm_master_running(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * \return false, if state machine has terminated
- */
-int ec_fsm_master_running(
- const ec_fsm_master_t *fsm /**< Master state machine. */
- )
-{
- return fsm->state != ec_fsm_master_state_end
- && fsm->state != ec_fsm_master_state_error;
}
/*****************************************************************************/
@@ -155,6 +137,18 @@
return fsm->idle;
}
+/*****************************************************************************/
+
+/** Restarts the master state machine.
+ */
+void ec_fsm_master_restart(
+ ec_fsm_master_t *fsm /**< Master state machine. */
+ )
+{
+ fsm->state = ec_fsm_master_state_start;
+ fsm->state(fsm); // execute immediately
+}
+
/******************************************************************************
* Master state machine
*****************************************************************************/
@@ -198,7 +192,7 @@
}
if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -240,7 +234,7 @@
// no slaves present -> finish state machine.
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -251,7 +245,7 @@
master->slave_count = 0; // FIXME avoid scanning!
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -283,7 +277,7 @@
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
} else {
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
}
}
@@ -471,7 +465,7 @@
if (ec_fsm_master_action_process_sii(fsm))
return; // SII write request found
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
@@ -568,7 +562,7 @@
EC_ERR("Failed to receive AL state datagram for slave %u"
" (datagram state %u)\n",
slave->ring_position, datagram->state);
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -581,7 +575,7 @@
fsm->slave->ring_position);
}
fsm->topology_change_pending = 1;
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -648,7 +642,7 @@
datagram->state);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -721,7 +715,7 @@
ec_master_eoe_start(master);
#endif
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
@@ -770,7 +764,7 @@
slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sii_queue);
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -797,7 +791,7 @@
if (ec_fsm_master_action_process_sii(fsm))
return; // processing another request
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
@@ -814,7 +808,7 @@
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -827,7 +821,7 @@
sdo_count, entry_count, slave->ring_position);
}
- fsm->state = ec_fsm_master_state_end;
+ ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
@@ -848,7 +842,7 @@
fsm->slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
- fsm->state = ec_fsm_master_state_error;
+ ec_fsm_master_restart(fsm);
return;
}
@@ -864,29 +858,7 @@
if (ec_fsm_master_action_process_sdo(fsm))
return; // processing another request
- fsm->state = ec_fsm_master_state_end;
-}
-
-/*****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_master_state_error(
- ec_fsm_master_t *fsm /**< Master state machine. */
- )
-{
- fsm->state = ec_fsm_master_state_start;
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_master_state_end(
- ec_fsm_master_t *fsm /**< Master state machine. */
- )
-{
- fsm->state = ec_fsm_master_state_start;
-}
-
-/*****************************************************************************/
+ ec_fsm_master_restart(fsm);
+}
+
+/*****************************************************************************/
--- a/master/fsm_master.h Wed Jun 18 13:44:43 2008 +0000
+++ b/master/fsm_master.h Wed Jun 18 13:53:31 2008 +0000
@@ -108,8 +108,7 @@
void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);
-int ec_fsm_master_exec(ec_fsm_master_t *);
-int ec_fsm_master_running(const ec_fsm_master_t *);
+void ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);
/*****************************************************************************/
--- a/master/master.c Wed Jun 18 13:44:43 2008 +0000
+++ b/master/master.c Wed Jun 18 13:53:31 2008 +0000
@@ -818,24 +818,22 @@
cycles_start = get_cycles();
ec_datagram_output_stats(&master->fsm_datagram);
- if (ec_fsm_master_running(&master->fsm)) { // datagram on the way
- // receive
- spin_lock_bh(&master->internal_lock);
- ecrt_master_receive(master);
- spin_unlock_bh(&master->internal_lock);
-
- if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
- goto schedule;
- }
+ // receive
+ spin_lock_bh(&master->internal_lock);
+ ecrt_master_receive(master);
+ spin_unlock_bh(&master->internal_lock);
+
+ if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
+ goto schedule;
// execute master state machine
- if (ec_fsm_master_exec(&master->fsm)) { // datagram ready for sending
- // queue and send
- spin_lock_bh(&master->internal_lock);
- ec_master_queue_datagram(master, &master->fsm_datagram);
- ecrt_master_send(master);
- spin_unlock_bh(&master->internal_lock);
- }
+ ec_fsm_master_exec(&master->fsm);
+
+ // queue and send
+ spin_lock_bh(&master->internal_lock);
+ ec_master_queue_datagram(master, &master->fsm_datagram);
+ ecrt_master_send(master);
+ spin_unlock_bh(&master->internal_lock);
cycles_end = get_cycles();
master->idle_cycle_times[master->idle_cycle_time_pos]
@@ -883,10 +881,10 @@
ec_master_output_stats(master);
// execute master state machine
- if (ec_fsm_master_exec(&master->fsm)) {
- // inject datagram
- master->injection_seq_fsm++;
- }
+ ec_fsm_master_exec(&master->fsm);
+
+ // inject datagram
+ master->injection_seq_fsm++;
cycles_end = get_cycles();
master->idle_cycle_times[master->idle_cycle_time_pos]