Separated slave state machines.
--- a/master/Kbuild.in Tue Feb 26 10:25:52 2008 +0000
+++ b/master/Kbuild.in Tue Feb 26 13:20:32 2008 +0000
@@ -36,7 +36,8 @@
ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \
slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \
canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \
- fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
+ fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave_scan.o fsm_slave_config.o \
+ fsm_master.o xmldev.o
ifeq (@ENABLE_EOE@,1)
ec_master-objs += ethernet.o
--- a/master/Makefile.am Tue Feb 26 10:25:52 2008 +0000
+++ b/master/Makefile.am Tue Feb 26 13:20:32 2008 +0000
@@ -49,7 +49,8 @@
fsm_coe_map.c fsm_coe_map.h \
fsm_pdo_mapping.c fsm_pdo_mapping.h \
fsm_pdo_config.c fsm_pdo_config.h \
- fsm_slave.c fsm_slave.h \
+ fsm_slave_scan.c fsm_slave_scan.h \
+ fsm_slave_config.c fsm_slave_config.h \
fsm_master.c fsm_master.h \
globals.h \
mailbox.c mailbox.h \
--- a/master/fsm_master.c Tue Feb 26 10:25:52 2008 +0000
+++ b/master/fsm_master.c Tue Feb 26 13:20:32 2008 +0000
@@ -87,7 +87,8 @@
fsm->tainted = 0;
// init sub-state-machines
- ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
+ ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
+ ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram);
ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@@ -103,7 +104,8 @@
void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
{
// clear sub-state machines
- ec_fsm_slave_clear(&fsm->fsm_slave);
+ ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
+ ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
ec_fsm_sii_clear(&fsm->fsm_sii);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_coe_clear(&fsm->fsm_coe);
@@ -453,8 +455,8 @@
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_configure_slave;
- ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
- ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+ ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
+ ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
return 1;
}
@@ -864,8 +866,8 @@
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->state = ec_fsm_master_state_scan_slaves;
- ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
- ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+ ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+ ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
}
/*****************************************************************************/
@@ -882,7 +884,7 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
+ if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
return;
#ifdef EC_EOE
@@ -907,8 +909,8 @@
// another slave to fetch?
if (slave->list.next != &master->slaves) {
fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
- ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
- ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+ ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+ ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
return;
}
@@ -940,10 +942,10 @@
/**< master state machine */
)
{
- if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
- return;
-
- if (!ec_fsm_slave_success(&fsm->fsm_slave))
+ if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
+ return;
+
+ if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config))
fsm->config_error = 1;
// configure next slave, if necessary
--- a/master/fsm_master.h Tue Feb 26 10:25:52 2008 +0000
+++ b/master/fsm_master.h Tue Feb 26 13:20:32 2008 +0000
@@ -33,7 +33,7 @@
/**
\file
- EtherCAT finite state machines.
+ EtherCAT master state machine.
*/
/*****************************************************************************/
@@ -41,42 +41,35 @@
#ifndef __EC_FSM_MASTER__
#define __EC_FSM_MASTER__
+#include "../include/ecrt.h"
+
#include "globals.h"
-#include "../include/ecrt.h"
#include "datagram.h"
-//#include "slave.h"
#include "canopen.h"
-
-#include "fsm_slave.h"
+#include "fsm_slave_config.h"
+#include "fsm_slave_scan.h"
#include "fsm_coe_map.h"
/*****************************************************************************/
-/**
- * EEPROM write request.
+/** EEPROM write request.
*/
-
-typedef struct
-{
+typedef struct {
struct list_head list; /**< list head */
ec_slave_t *slave; /**< EtherCAT slave */
off_t word_offset; /**< SII address in words */
size_t word_size; /**< data size in words */
const uint8_t *data; /**< pointer to the data */
ec_request_state_t state; /**< state of the request */
-}
-ec_eeprom_write_request_t;
+} ec_eeprom_write_request_t;
/*****************************************************************************/
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
-/**
- Finite state machine of an EtherCAT master.
-*/
-
-struct ec_fsm_master
-{
+/** Finite state machine of an EtherCAT master.
+ */
+struct ec_fsm_master {
ec_master_t *master; /**< master the FSM runs on */
ec_datagram_t *datagram; /**< datagram used in the state machine */
unsigned int retries; /**< retries on datagram timeout. */
@@ -96,7 +89,8 @@
off_t eeprom_index; /**< index to EEPROM write request data */
ec_sdo_request_t *sdo_request; /**< Sdo request to process */
- ec_fsm_slave_t fsm_slave; /**< slave state machine */
+ ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
+ ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
--- a/master/fsm_slave.c Tue Feb 26 10:25:52 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1272 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * The right to use EtherCAT Technology is granted and comes free of
- * charge under condition of compatibility of product made by
- * Licensee. People intending to distribute/sell products based on the
- * code, have to sign an agreement to guarantee that products using
- * software based on IgH EtherCAT master stay compatible with the actual
- * EtherCAT specification (which are released themselves as an open
- * standard) as the (only) precondition to have the right to use EtherCAT
- * Technology, IP and trade marks.
- *
- *****************************************************************************/
-
-/**
- \file
- EtherCAT slave state machines.
-*/
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "master.h"
-#include "mailbox.h"
-#include "slave_config.h"
-#include "fsm_slave.h"
-
-/*****************************************************************************/
-
-void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
-void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
-
-void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_sdo_conf(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_mapping(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_pdo_conf(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_safeop(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
-
-void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_mapping(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
-void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *);
-
-void ec_fsm_slave_state_end(ec_fsm_slave_t *);
-void ec_fsm_slave_state_error(ec_fsm_slave_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
- ec_datagram_t *datagram /**< datagram structure to use */
- )
-{
- fsm->datagram = datagram;
-
- // init sub state machines
- ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
- ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
- ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
- ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
- ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
-}
-
-/*****************************************************************************/
-
-/** Destructor.
- */
-void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- // clear sub state machines
- ec_fsm_sii_clear(&fsm->fsm_sii);
- ec_fsm_change_clear(&fsm->fsm_change);
- ec_fsm_coe_clear(&fsm->fsm_coe);
- ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
- ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
-}
-
-/*****************************************************************************/
-
-/**
- * Start slave scan state machine.
- */
-
-void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
- ec_slave_t *slave /**< slave to configure */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_slave_scan_state_start;
-}
-
-/*****************************************************************************/
-
-/**
- * Start slave configuration state machine.
- */
-
-void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
- ec_slave_t *slave /**< slave to configure */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_slave_conf_state_start;
-}
-
-/*****************************************************************************/
-
-/**
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- return fsm->state != ec_fsm_slave_state_end
- && fsm->state != ec_fsm_slave_state_error;
-}
-
-/*****************************************************************************/
-
-/**
- Executes the current state of the state machine.
- If the state machine's datagram is not sent or received yet, the execution
- of the state machine is delayed to the next cycle.
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- if (fsm->datagram->state == EC_DATAGRAM_SENT
- || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
- // datagram was not sent or received yet.
- return ec_fsm_slave_running(fsm);
- }
-
- fsm->state(fsm);
- return ec_fsm_slave_running(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- \return true, if the state machine terminated gracefully
-*/
-
-int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- return fsm->state == ec_fsm_slave_state_end;
-}
-
-/******************************************************************************
- * slave scan state machine
- *****************************************************************************/
-
-/**
- Slave scan state: START.
- First state of the slave state machine. Writes the station address to the
- slave, according to its ring position.
-*/
-
-void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- // write station address
- ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
- EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_scan_state_address;
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: ADDRESS.
-*/
-
-void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive station address datagram for slave %i"
- " (datagram state %i)\n",
- fsm->slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to write station address on slave %i: ",
- fsm->slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- // Read AL state
- ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_scan_state_state;
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: STATE.
-*/
-
-void ec_fsm_slave_scan_state_state(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive AL state datagram from slave %i"
- " (datagram state %i).\n",
- fsm->slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to read AL state of slave %i: ",
- fsm->slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- slave->current_state = EC_READ_U8(datagram->data);
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- char state_str[EC_STATE_STRING_SIZE];
- ec_state_string(slave->current_state, state_str);
- EC_WARN("Slave %i has state error bit set (%s)!\n",
- slave->ring_position, state_str);
- }
-
- // read base data
- ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_scan_state_base;
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: BASE.
-*/
-
-void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive base data datagram for slave %i"
- " (datagram state %i).\n",
- slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to read base data from slave %i: ",
- slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- slave->base_type = EC_READ_U8 (datagram->data);
- slave->base_revision = EC_READ_U8 (datagram->data + 1);
- slave->base_build = EC_READ_U16(datagram->data + 2);
- slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
-
- if (slave->base_fmmu_count > EC_MAX_FMMUS) {
- EC_WARN("Slave %u has more FMMUs (%u) than the master can"
- " handle (%u).\n", slave->ring_position,
- slave->base_fmmu_count, EC_MAX_FMMUS);
- slave->base_fmmu_count = EC_MAX_FMMUS;
- }
-
- // read data link status
- ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_scan_state_datalink;
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: DATALINK.
-*/
-
-void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
- uint16_t dl_status;
- unsigned int i;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive DL status datagram from slave %i"
- " (datagram state %i).\n",
- slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to read DL status from slave %i: ",
- slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- dl_status = EC_READ_U16(datagram->data);
- for (i = 0; i < 4; i++) {
- slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
- slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
- slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
- }
-
- // Start fetching EEPROM size
-
- fsm->sii_offset = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- EC_FSM_SII_USE_CONFIGURED_ADDRESS);
- fsm->state = ec_fsm_slave_scan_state_eeprom_size;
- fsm->state(fsm); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: EEPROM SIZE.
-*/
-
-void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
- uint16_t cat_type, cat_size;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to read EEPROM size of slave %i.\n",
- slave->ring_position);
- return;
- }
-
- cat_type = EC_READ_U16(fsm->fsm_sii.value);
- cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
-
- if (cat_type != 0xFFFF) { // not the last category
- off_t next_offset = 2UL + fsm->sii_offset + cat_size;
- if (next_offset >= EC_MAX_EEPROM_SIZE) {
- EC_WARN("EEPROM size of slave %i exceeds"
- " %u words (0xffff limiter missing?).\n",
- slave->ring_position, EC_MAX_EEPROM_SIZE);
- // cut off category data...
- slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
- goto alloc_eeprom;
- }
- fsm->sii_offset = next_offset;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- EC_FSM_SII_USE_CONFIGURED_ADDRESS);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
- return;
- }
-
- slave->eeprom_size = (fsm->sii_offset + 1) * 2;
-
-alloc_eeprom:
- if (slave->eeprom_data) {
- EC_WARN("Freeing old EEPROM data on slave %i...\n",
- slave->ring_position);
- kfree(slave->eeprom_data);
- }
-
- if (!(slave->eeprom_data =
- (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
- slave->eeprom_size, slave->ring_position);
- slave->eeprom_size = 0;
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // Start fetching EEPROM contents
-
- fsm->state = ec_fsm_slave_scan_state_eeprom_data;
- fsm->sii_offset = 0x0000;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- EC_FSM_SII_USE_CONFIGURED_ADDRESS);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: EEPROM DATA.
-*/
-
-void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
- uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
- slave->ring_position);
- return;
- }
-
- // 2 words fetched
-
- if (fsm->sii_offset + 2 <= eeprom_word_size) { // 2 words fit
- memcpy(slave->eeprom_data + fsm->sii_offset * 2,
- fsm->fsm_sii.value, 4);
- }
- else { // copy the last word
- memcpy(slave->eeprom_data + fsm->sii_offset * 2,
- fsm->fsm_sii.value, 2);
- }
-
- if (fsm->sii_offset + 2 < eeprom_word_size) {
- // fetch the next 2 words
- fsm->sii_offset += 2;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- EC_FSM_SII_USE_CONFIGURED_ADDRESS);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
- return;
- }
-
- // Evaluate EEPROM contents
-
- slave->sii_alias =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
- slave->sii_vendor_id =
- EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
- slave->sii_product_code =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
- slave->sii_revision_number =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
- slave->sii_serial_number =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
- slave->sii_rx_mailbox_offset =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
- slave->sii_rx_mailbox_size =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
- slave->sii_tx_mailbox_offset =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
- slave->sii_tx_mailbox_size =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
- slave->sii_mailbox_protocols =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
-
- if (eeprom_word_size == EC_FIRST_EEPROM_CATEGORY_OFFSET) {
- // eeprom does not contain category data
- fsm->state = ec_fsm_slave_state_end;
- return;
- }
-
- if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
- EC_ERR("Unexpected end of EEPROM data in slave %u:"
- " First category header missing.\n",
- slave->ring_position);
- goto end;
- }
-
- // evaluate category data
- cat_word =
- (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
- while (EC_READ_U16(cat_word) != 0xFFFF) {
-
- // type and size words must fit
- if (cat_word + 2 - (uint16_t *) slave->eeprom_data
- > eeprom_word_size) {
- EC_ERR("Unexpected end of EEPROM data in slave %u:"
- " Category header incomplete.\n",
- slave->ring_position);
- goto end;
- }
-
- cat_type = EC_READ_U16(cat_word) & 0x7FFF;
- cat_size = EC_READ_U16(cat_word + 1);
- cat_word += 2;
-
- if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
- > eeprom_word_size) {
- EC_WARN("Unexpected end of EEPROM data in slave %u:"
- " Category data incomplete.\n",
- slave->ring_position);
- goto end;
- }
-
- switch (cat_type) {
- case 0x000A:
- if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
- cat_size * 2))
- goto end;
- break;
- case 0x001E:
- if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
- cat_size * 2))
- goto end;
- break;
- case 0x0028:
- break;
- case 0x0029:
- if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
- cat_size * 2))
- goto end;
- break;
- case 0x0032:
- if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
- cat_size * 2, EC_DIR_INPUT)) // TxPdo
- goto end;
- break;
- case 0x0033:
- if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
- cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
- goto end;
- break;
- default:
- if (fsm->slave->master->debug_level)
- EC_WARN("Unknown category type 0x%04X in slave %i.\n",
- cat_type, slave->ring_position);
- }
-
- cat_word += cat_size;
- if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
- EC_WARN("Unexpected end of EEPROM data in slave %u:"
- " Next category header missing.\n",
- slave->ring_position);
- goto end;
- }
- }
-
- fsm->state = ec_fsm_slave_state_end;
- return;
-
-end:
- EC_ERR("Failed to analyze category data.\n");
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
-}
-
-/******************************************************************************
- * slave configuration state machine
- *****************************************************************************/
-
-/**
- Slave configuration state: START.
-*/
-
-void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- if (fsm->slave->master->debug_level) {
- EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
- }
-
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
- ec_fsm_change_exec(&fsm->fsm_change);
- fsm->state = ec_fsm_slave_conf_state_init;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: INIT.
-*/
-
-void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_master_t *master = fsm->slave->master;
- ec_slave_t *slave = fsm->slave;
- ec_datagram_t *datagram = fsm->datagram;
-
- if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
- if (!ec_fsm_change_success(&fsm->fsm_change)) {
- if (!fsm->fsm_change.spontaneous_change)
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- slave->self_configured = 1;
-
- if (master->debug_level) {
- EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
- }
-
- // check and reset CRC fault counters
- //ec_slave_check_crc(slave);
- // TODO: Implement state machine for CRC checking.
-
- if (!slave->base_fmmu_count) { // skip FMMU configuration
- ec_fsm_slave_conf_enter_mbox_sync(fsm);
- return;
- }
-
- if (master->debug_level)
- EC_DBG("Clearing FMMU configurations of slave %i...\n",
- slave->ring_position);
-
- // clear FMMU configurations
- ec_datagram_fpwr(datagram, slave->station_address,
- 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: CLEAR FMMU.
-*/
-
-void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
- /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
- fsm->slave->ring_position);
- return;
- }
-
- if (datagram->working_counter != 1) {
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to clear FMMUs of slave %i: ",
- fsm->slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- ec_fsm_slave_conf_enter_mbox_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for mailbox sync managers to be configured.
- */
-
-void ec_fsm_slave_conf_enter_mbox_sync(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- ec_master_t *master = fsm->slave->master;
- ec_slave_t *slave = fsm->slave;
- ec_datagram_t *datagram = fsm->datagram;
- unsigned int i;
-
- // slave is now in INIT
- if (slave->current_state == slave->requested_state) {
- fsm->state = ec_fsm_slave_state_end; // successful
- if (master->debug_level) {
- EC_DBG("Finished configuration of slave %i.\n",
- slave->ring_position);
- }
- return;
- }
-
- if (!slave->sii_mailbox_protocols) {
- // no mailbox protocols supported
- if (master->debug_level)
- EC_DBG("Slave %u does not support mailbox communication.\n",
- slave->ring_position);
- ec_fsm_slave_conf_enter_preop(fsm);
- return;
- }
-
- if (master->debug_level) {
- EC_DBG("Configuring mailbox sync managers of slave %i.\n",
- slave->ring_position);
- }
-
- if (slave->sii_sync_count >= 2) { // mailbox configuration provided
- ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
- EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
- memset(datagram->data, 0x00,
- EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
-
- for (i = 0; i < 2; i++) {
- ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
- datagram->data + EC_SYNC_PAGE_SIZE * i);
- }
- } else { // no mailbox sync manager configurations provided
- ec_sync_t sync;
-
- if (master->debug_level)
- EC_DBG("Slave %u does not provide"
- " mailbox sync manager configurations.\n",
- slave->ring_position);
-
- ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
- EC_SYNC_PAGE_SIZE * 2);
- memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
-
- ec_sync_init(&sync, slave, 0);
- sync.physical_start_address = slave->sii_rx_mailbox_offset;
- sync.control_register = 0x26;
- sync.enable = 1;
- ec_sync_config(&sync, slave->sii_rx_mailbox_size,
- datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
-
- ec_sync_init(&sync, slave, 1);
- sync.physical_start_address = slave->sii_tx_mailbox_offset;
- sync.control_register = 0x22;
- sync.enable = 1;
- ec_sync_config(&sync, slave->sii_tx_mailbox_size,
- datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
- }
-
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_conf_state_mbox_sync;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: SYNC.
-*/
-
-void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive sync manager configuration datagram for"
- " slave %i (datagram state %i).\n",
- slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to set sync managers of slave %i: ",
- slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- ec_fsm_slave_conf_enter_preop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Request PREOP state.
- */
-
-void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- fsm->state = ec_fsm_slave_conf_state_preop;
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
- ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: PREOP.
-*/
-
-void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
- ec_master_t *master = fsm->slave->master;
-
- if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
- if (!ec_fsm_change_success(&fsm->fsm_change)) {
- if (!fsm->fsm_change.spontaneous_change)
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // slave is now in PREOP
- slave->jiffies_preop = fsm->datagram->jiffies_received;
-
- if (master->debug_level) {
- EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
- }
-
- if (slave->current_state == slave->requested_state) {
- fsm->state = ec_fsm_slave_state_end; // successful
- if (master->debug_level) {
- EC_DBG("Finished configuration of slave %i.\n",
- slave->ring_position);
- }
- return;
- }
-
- ec_fsm_slave_conf_enter_sdo_conf(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Sdo configurations to be applied.
- */
-
-void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
-
- if (!slave->config) {
- EC_DBG("Slave %u is not configured.\n", slave->ring_position);
- ec_fsm_slave_conf_enter_safeop(fsm);
- return;
- }
-
- // No CoE configuration to be applied?
- if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
- ec_fsm_slave_conf_enter_mapping(fsm);
- return;
- }
-
- // start Sdo configuration
- fsm->state = ec_fsm_slave_conf_state_sdo_conf;
- fsm->sdodata =
- list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
- ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: SDO_CONF.
-*/
-
-void ec_fsm_slave_conf_state_sdo_conf(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- EC_ERR("Sdo configuration failed for slave %u.\n",
- fsm->slave->ring_position);
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // Another Sdo to configure?
- if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
- fsm->sdodata =
- list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
- ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- return;
- }
-
- // All Sdos are now configured.
- ec_fsm_slave_conf_enter_mapping(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Pdo mappings to be applied.
- */
-
-void ec_fsm_slave_conf_enter_mapping(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- // start configuring Pdo mapping
- fsm->state = ec_fsm_slave_conf_state_mapping;
- ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
- ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: MAPPING.
-*/
-
-void ec_fsm_slave_conf_state_mapping(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
-
- if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
- EC_ERR("Pdo mapping configuration failed for slave %u.\n",
- fsm->slave->ring_position);
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // Start Pdo configuration
- fsm->state = ec_fsm_slave_conf_state_pdo_conf;
- ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
- ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: PDO_CONF.
-*/
-
-void ec_fsm_slave_conf_state_pdo_conf(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
-
- if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
- EC_ERR("Pdo configuration failed for slave %u.\n",
- fsm->slave->ring_position);
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- ec_fsm_slave_conf_enter_pdo_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for Pdo sync managers to be configured.
- */
-
-void ec_fsm_slave_conf_enter_pdo_sync(
- ec_fsm_slave_t *fsm /**< slave state machine */
- )
-{
- ec_slave_t *slave = fsm->slave;
- ec_datagram_t *datagram = fsm->datagram;
- unsigned int i, offset, num_syncs;
- const ec_sync_t *sync;
- ec_direction_t dir;
- uint16_t size;
-
- if (!slave->sii_sync_count) {
- ec_fsm_slave_conf_enter_fmmu(fsm);
- return;
- }
-
- if (slave->sii_mailbox_protocols) {
- offset = 2; // slave has mailboxes
- } else {
- offset = 0;
- }
- num_syncs = slave->sii_sync_count - offset;
-
- // configure sync managers for process data
- ec_datagram_fpwr(datagram, slave->station_address,
- 0x0800 + EC_SYNC_PAGE_SIZE * offset,
- EC_SYNC_PAGE_SIZE * num_syncs);
- memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
-
- for (i = 0; i < num_syncs; i++) {
- sync = &slave->sii_syncs[i + offset];
- dir = ec_sync_direction(sync);
- size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
- ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
- }
-
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_conf_state_pdo_sync;
-}
-
-/*****************************************************************************/
-
-/**
- * Configure Pdo sync managers.
- */
-
-void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive process data sync manager configuration"
- " datagram for slave %i (datagram state %i).\n",
- slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to set process data sync managers of slave %i: ",
- slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- ec_fsm_slave_conf_enter_fmmu(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for FMMUs to be configured.
- */
-
-void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_slave_t *slave = fsm->slave;
- ec_datagram_t *datagram = fsm->datagram;
- unsigned int i;
- const ec_fmmu_config_t *fmmu;
- const ec_sync_t *sync;
-
- if (slave->base_fmmu_count < slave->config->used_fmmus) {
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
- slave->ring_position, slave->base_fmmu_count,
- slave->config->used_fmmus);
- return;
- }
-
- if (!slave->base_fmmu_count) { // skip FMMU configuration
- ec_fsm_slave_conf_enter_safeop(fsm);
- return;
- }
-
- // configure FMMUs
- ec_datagram_fpwr(datagram, slave->station_address,
- 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- for (i = 0; i < slave->config->used_fmmus; i++) {
- fmmu = &slave->config->fmmu_configs[i];
- if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
- " %u!\n", slave->ring_position);
- return;
- }
- ec_fmmu_config_page(fmmu, sync,
- datagram->data + EC_FMMU_PAGE_SIZE * i);
- }
-
- fsm->retries = EC_FSM_RETRIES;
- fsm->state = ec_fsm_slave_conf_state_fmmu;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: FMMU.
-*/
-
-void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to receive FMMUs datagram for slave %i"
- " (datagram state %i).\n",
- slave->ring_position, datagram->state);
- return;
- }
-
- if (datagram->working_counter != 1) {
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to set FMMUs of slave %i: ",
- slave->ring_position);
- ec_datagram_print_wc_error(datagram);
- return;
- }
-
- ec_fsm_slave_conf_enter_safeop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Request SAFEOP state.
- */
-
-void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- fsm->state = ec_fsm_slave_conf_state_safeop;
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
- ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: SAFEOP.
-*/
-
-void ec_fsm_slave_conf_state_safeop(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_master_t *master = fsm->slave->master;
- ec_slave_t *slave = fsm->slave;
-
- if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
- if (!ec_fsm_change_success(&fsm->fsm_change)) {
- if (!fsm->fsm_change.spontaneous_change)
- fsm->slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // slave is now in SAFEOP
-
- if (master->debug_level) {
- EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
- }
-
- if (fsm->slave->current_state == fsm->slave->requested_state) {
- fsm->state = ec_fsm_slave_state_end; // successful
- if (master->debug_level) {
- EC_DBG("Finished configuration of slave %i.\n",
- slave->ring_position);
- }
- return;
- }
-
- // set state to OP
- fsm->state = ec_fsm_slave_conf_state_op;
- ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
- ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: OP
-*/
-
-void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
- ec_master_t *master = fsm->slave->master;
- ec_slave_t *slave = fsm->slave;
-
- if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-
- if (!ec_fsm_change_success(&fsm->fsm_change)) {
- if (!fsm->fsm_change.spontaneous_change)
- slave->error_flag = 1;
- fsm->state = ec_fsm_slave_state_error;
- return;
- }
-
- // slave is now in OP
-
- if (master->debug_level) {
- EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
- EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
- }
-
- fsm->state = ec_fsm_slave_state_end; // successful
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/**
- State: ERROR.
-*/
-
-void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
- State: END.
-*/
-
-void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */)
-{
-}
-
-/*****************************************************************************/
--- a/master/fsm_slave.h Tue Feb 26 10:25:52 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,90 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * The right to use EtherCAT Technology is granted and comes free of
- * charge under condition of compatibility of product made by
- * Licensee. People intending to distribute/sell products based on the
- * code, have to sign an agreement to guarantee that products using
- * software based on IgH EtherCAT master stay compatible with the actual
- * EtherCAT specification (which are released themselves as an open
- * standard) as the (only) precondition to have the right to use EtherCAT
- * Technology, IP and trade marks.
- *
- *****************************************************************************/
-
-/**
- \file
- EtherCAT finite state machines.
-*/
-
-/*****************************************************************************/
-
-#ifndef __EC_FSM_SLAVE__
-#define __EC_FSM_SLAVE__
-
-#include "globals.h"
-#include "../include/ecrt.h"
-#include "datagram.h"
-#include "slave.h"
-#include "fsm_sii.h"
-#include "fsm_change.h"
-#include "fsm_coe.h"
-#include "fsm_pdo_mapping.h"
-#include "fsm_pdo_config.h"
-
-/*****************************************************************************/
-
-typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
-
-/** Finite state machine of an EtherCAT slave.
- */
-struct ec_fsm_slave
-{
- ec_slave_t *slave; /**< Slave the FSM runs on. */
- ec_datagram_t *datagram; /**< Datagram used in the state machine. */
- unsigned int retries; /**< Retries on datagram timeout. */
-
- void (*state)(ec_fsm_slave_t *); /**< State function. */
- ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
- uint16_t sii_offset; /**< SII offset in words. */
-
- ec_fsm_sii_t fsm_sii; /**< SII state machine. */
- ec_fsm_change_t fsm_change; /**< State change state machine. */
- ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
- ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
- ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
-};
-
-/*****************************************************************************/
-
-void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);
-void ec_fsm_slave_clear(ec_fsm_slave_t *);
-
-void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);
-void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);
-
-int ec_fsm_slave_exec(ec_fsm_slave_t *);
-int ec_fsm_slave_success(const ec_fsm_slave_t *);
-
-/*****************************************************************************/
-
-#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_config.c Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,824 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave configuration state machine.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+#include "fsm_slave_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_mapping(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+ ec_datagram_t *datagram /**< datagram structure to use */
+ )
+{
+ fsm->datagram = datagram;
+
+ // init sub state machines
+ ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
+ ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+ ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
+ ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ // clear sub state machines
+ ec_fsm_change_clear(&fsm->fsm_change);
+ ec_fsm_coe_clear(&fsm->fsm_coe);
+ ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
+ ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave configuration state machine.
+ */
+
+void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_slave_config_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ return fsm->state != ec_fsm_slave_config_state_end
+ && fsm->state != ec_fsm_slave_config_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the current state of the state machine.
+ If the state machine's datagram is not sent or received yet, the execution
+ of the state machine is delayed to the next cycle.
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ if (fsm->datagram->state == EC_DATAGRAM_SENT
+ || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+ // datagram was not sent or received yet.
+ return ec_fsm_slave_config_running(fsm);
+ }
+
+ fsm->state(fsm);
+ return ec_fsm_slave_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ return fsm->state == ec_fsm_slave_config_state_end;
+}
+
+/******************************************************************************
+ * Slave configuration state machine
+ *****************************************************************************/
+
+/**
+ Slave configuration state: START.
+*/
+
+void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
+ }
+
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+ ec_fsm_change_exec(&fsm->fsm_change);
+ fsm->state = ec_fsm_slave_config_state_init;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: INIT.
+*/
+
+void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ slave->self_configured = 1;
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
+ }
+
+ // check and reset CRC fault counters
+ //ec_slave_check_crc(slave);
+ // TODO: Implement state machine for CRC checking.
+
+ if (!slave->base_fmmu_count) { // skip FMMU configuration
+ ec_fsm_slave_config_enter_mbox_sync(fsm);
+ return;
+ }
+
+ if (master->debug_level)
+ EC_DBG("Clearing FMMU configurations of slave %i...\n",
+ slave->ring_position);
+
+ // clear FMMU configurations
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_clear_fmmus;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: CLEAR FMMU.
+*/
+
+void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
+ /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to clear FMMUs of slave %i: ",
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_mbox_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for mailbox sync managers to be configured.
+ */
+
+void ec_fsm_slave_config_enter_mbox_sync(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int i;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ if (!slave->sii_mailbox_protocols) {
+ // no mailbox protocols supported
+ if (master->debug_level)
+ EC_DBG("Slave %u does not support mailbox communication.\n",
+ slave->ring_position);
+ ec_fsm_slave_config_enter_preop(fsm);
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Configuring mailbox sync managers of slave %i.\n",
+ slave->ring_position);
+ }
+
+ if (slave->sii_sync_count >= 2) { // mailbox configuration provided
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+ memset(datagram->data, 0x00,
+ EC_SYNC_PAGE_SIZE * slave->sii_sync_count);
+
+ for (i = 0; i < 2; i++) {
+ ec_sync_config(&slave->sii_syncs[i], slave->sii_syncs[i].length,
+ datagram->data + EC_SYNC_PAGE_SIZE * i);
+ }
+ } else { // no mailbox sync manager configurations provided
+ ec_sync_t sync;
+
+ if (master->debug_level)
+ EC_DBG("Slave %u does not provide"
+ " mailbox sync manager configurations.\n",
+ slave->ring_position);
+
+ ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
+ EC_SYNC_PAGE_SIZE * 2);
+ memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
+
+ ec_sync_init(&sync, slave, 0);
+ sync.physical_start_address = slave->sii_rx_mailbox_offset;
+ sync.control_register = 0x26;
+ sync.enable = 1;
+ ec_sync_config(&sync, slave->sii_rx_mailbox_size,
+ datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+
+ ec_sync_init(&sync, slave, 1);
+ sync.physical_start_address = slave->sii_tx_mailbox_offset;
+ sync.control_register = 0x22;
+ sync.enable = 1;
+ ec_sync_config(&sync, slave->sii_tx_mailbox_size,
+ datagram->data + EC_SYNC_PAGE_SIZE * sync.index);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_mbox_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SYNC.
+*/
+
+void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive sync manager configuration datagram for"
+ " slave %i (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set sync managers of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_preop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Request PREOP state.
+ */
+
+void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ fsm->state = ec_fsm_slave_config_state_preop;
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: PREOP.
+*/
+
+void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->slave->master;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // slave is now in PREOP
+ slave->jiffies_preop = fsm->datagram->jiffies_received;
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+ }
+
+ if (slave->current_state == slave->requested_state) {
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ ec_fsm_slave_config_enter_sdo_conf(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Sdo configurations to be applied.
+ */
+
+void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ if (!slave->config) {
+ EC_DBG("Slave %u is not configured.\n", slave->ring_position);
+ ec_fsm_slave_config_enter_safeop(fsm);
+ return;
+ }
+
+ // No CoE configuration to be applied?
+ if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
+ ec_fsm_slave_config_enter_mapping(fsm);
+ return;
+ }
+
+ // start Sdo configuration
+ fsm->state = ec_fsm_slave_config_state_sdo_conf;
+ fsm->sdodata =
+ list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_sdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+ EC_ERR("Sdo configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // Another Sdo to configure?
+ if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
+ fsm->sdodata =
+ list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
+ ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // All Sdos are now configured.
+ ec_fsm_slave_config_enter_mapping(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Pdo mappings to be applied.
+ */
+
+void ec_fsm_slave_config_enter_mapping(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ // start configuring Pdo mapping
+ fsm->state = ec_fsm_slave_config_state_mapping;
+ ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
+ ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: MAPPING.
+*/
+
+void ec_fsm_slave_config_state_mapping(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
+
+ if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
+ EC_ERR("Pdo mapping configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // Start Pdo configuration
+ fsm->state = ec_fsm_slave_config_state_pdo_conf;
+ ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
+ ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: PDO_CONF.
+*/
+
+void ec_fsm_slave_config_state_pdo_conf(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
+
+ if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
+ EC_ERR("Pdo configuration failed for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ ec_fsm_slave_config_enter_pdo_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for Pdo sync managers to be configured.
+ */
+
+void ec_fsm_slave_config_enter_pdo_sync(
+ ec_fsm_slave_config_t *fsm /**< slave state machine */
+ )
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int i, offset, num_syncs;
+ const ec_sync_t *sync;
+ ec_direction_t dir;
+ uint16_t size;
+
+ if (!slave->sii_sync_count) {
+ ec_fsm_slave_config_enter_fmmu(fsm);
+ return;
+ }
+
+ if (slave->sii_mailbox_protocols) {
+ offset = 2; // slave has mailboxes
+ } else {
+ offset = 0;
+ }
+ num_syncs = slave->sii_sync_count - offset;
+
+ // configure sync managers for process data
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0800 + EC_SYNC_PAGE_SIZE * offset,
+ EC_SYNC_PAGE_SIZE * num_syncs);
+ memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
+
+ for (i = 0; i < num_syncs; i++) {
+ sync = &slave->sii_syncs[i + offset];
+ dir = ec_sync_direction(sync);
+ size = ec_pdo_mapping_total_size(&slave->config->mapping[dir]);
+ ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_pdo_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ * Configure Pdo sync managers.
+ */
+
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive process data sync manager configuration"
+ " datagram for slave %i (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set process data sync managers of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_fmmu(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for FMMUs to be configured.
+ */
+
+void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+ unsigned int i;
+ const ec_fmmu_config_t *fmmu;
+ const ec_sync_t *sync;
+
+ if (slave->base_fmmu_count < slave->config->used_fmmus) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
+ slave->ring_position, slave->base_fmmu_count,
+ slave->config->used_fmmus);
+ return;
+ }
+
+ if (!slave->base_fmmu_count) { // skip FMMU configuration
+ ec_fsm_slave_config_enter_safeop(fsm);
+ return;
+ }
+
+ // configure FMMUs
+ ec_datagram_fpwr(datagram, slave->station_address,
+ 0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ for (i = 0; i < slave->config->used_fmmus; i++) {
+ fmmu = &slave->config->fmmu_configs[i];
+ if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
+ " %u!\n", slave->ring_position);
+ return;
+ }
+ ec_fmmu_config_page(fmmu, sync,
+ datagram->data + EC_FMMU_PAGE_SIZE * i);
+ }
+
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_config_state_fmmu;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: FMMU.
+*/
+
+void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to receive FMMUs datagram for slave %i"
+ " (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ EC_ERR("Failed to set FMMUs of slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ ec_fsm_slave_config_enter_safeop(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Request SAFEOP state.
+ */
+
+void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ fsm->state = ec_fsm_slave_config_state_safeop;
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: SAFEOP.
+*/
+
+void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // slave is now in SAFEOP
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
+ }
+
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+ if (master->debug_level) {
+ EC_DBG("Finished configuration of slave %i.\n",
+ slave->ring_position);
+ }
+ return;
+ }
+
+ // set state to OP
+ fsm->state = ec_fsm_slave_config_state_op;
+ ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+ ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave configuration state: OP
+*/
+
+void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+ ec_master_t *master = fsm->slave->master;
+ ec_slave_t *slave = fsm->slave;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ if (!fsm->fsm_change.spontaneous_change)
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_config_state_error;
+ return;
+ }
+
+ // slave is now in OP
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
+ EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
+ }
+
+ fsm->state = ec_fsm_slave_config_state_end; // successful
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/**
+ State: ERROR.
+*/
+
+void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State: END.
+*/
+
+void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *fsm /**< slave state machine */)
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_config.h Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,87 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave configuration state machine.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SLAVE_CONFIG__
+#define __EC_FSM_SLAVE_CONFIG__
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+#include "slave.h"
+#include "datagram.h"
+#include "fsm_change.h"
+#include "fsm_coe.h"
+#include "fsm_pdo_mapping.h"
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+/** \see ec_fsm_slave_config */
+typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
+
+/** Finite state machine to configure an EtherCAT slave.
+ */
+struct ec_fsm_slave_config
+{
+ ec_slave_t *slave; /**< Slave the FSM runs on. */
+ ec_datagram_t *datagram; /**< Datagram used in the state machine. */
+ unsigned int retries; /**< Retries on datagram timeout. */
+
+ void (*state)(ec_fsm_slave_config_t *); /**< State function. */
+ ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
+ ec_fsm_change_t fsm_change; /**< State change state machine. */
+ ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
+ ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
+ ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *);
+void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
+
+void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
+
+int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
+int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
+
+/*****************************************************************************/
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_scan.c Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,590 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_slave_scan.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_scan_t *);
+
+void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *fsm, /**< slave state machine */
+ ec_datagram_t *datagram /**< datagram structure to use */
+ )
+{
+ fsm->datagram = datagram;
+
+ // init sub state machines
+ ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ // clear sub state machines
+ ec_fsm_sii_clear(&fsm->fsm_sii);
+}
+
+/*****************************************************************************/
+
+/**
+ * Start slave scan state machine.
+ */
+
+void ec_fsm_slave_scan_start(
+ ec_fsm_slave_scan_t *fsm, /**< slave state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_slave_scan_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ return fsm->state != ec_fsm_slave_scan_state_end
+ && fsm->state != ec_fsm_slave_scan_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the current state of the state machine.
+ If the state machine's datagram is not sent or received yet, the execution
+ of the state machine is delayed to the next cycle.
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ if (fsm->datagram->state == EC_DATAGRAM_SENT
+ || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+ // datagram was not sent or received yet.
+ return ec_fsm_slave_scan_running(fsm);
+ }
+
+ fsm->state(fsm);
+ return ec_fsm_slave_scan_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ \return true, if the state machine terminated gracefully
+*/
+
+int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ return fsm->state == ec_fsm_slave_scan_state_end;
+}
+
+/******************************************************************************
+ * slave scan state machine
+ *****************************************************************************/
+
+/**
+ Slave scan state: START.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ // write station address
+ ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_address;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: ADDRESS.
+*/
+
+void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to receive station address datagram for slave %i"
+ " (datagram state %i)\n",
+ fsm->slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to write station address on slave %i: ",
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ // Read AL state
+ ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_state;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: STATE.
+*/
+
+void ec_fsm_slave_scan_state_state(
+ ec_fsm_slave_scan_t *fsm /**< slave state machine */
+ )
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to receive AL state datagram from slave %i"
+ " (datagram state %i).\n",
+ fsm->slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to read AL state of slave %i: ",
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(datagram->data);
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ char state_str[EC_STATE_STRING_SIZE];
+ ec_state_string(slave->current_state, state_str);
+ EC_WARN("Slave %i has state error bit set (%s)!\n",
+ slave->ring_position, state_str);
+ }
+
+ // read base data
+ ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: BASE.
+*/
+
+void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to receive base data datagram for slave %i"
+ " (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to read base data from slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ slave->base_type = EC_READ_U8 (datagram->data);
+ slave->base_revision = EC_READ_U8 (datagram->data + 1);
+ slave->base_build = EC_READ_U16(datagram->data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
+
+ if (slave->base_fmmu_count > EC_MAX_FMMUS) {
+ EC_WARN("Slave %u has more FMMUs (%u) than the master can"
+ " handle (%u).\n", slave->ring_position,
+ slave->base_fmmu_count, EC_MAX_FMMUS);
+ slave->base_fmmu_count = EC_MAX_FMMUS;
+ }
+
+ // read data link status
+ ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_slave_scan_state_datalink;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: DATALINK.
+*/
+
+void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t dl_status;
+ unsigned int i;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to receive DL status datagram from slave %i"
+ " (datagram state %i).\n",
+ slave->ring_position, datagram->state);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to read DL status from slave %i: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ dl_status = EC_READ_U16(datagram->data);
+ for (i = 0; i < 4; i++) {
+ slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ // Start fetching EEPROM size
+
+ fsm->sii_offset = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+ fsm->state = ec_fsm_slave_scan_state_eeprom_size;
+ fsm->state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: EEPROM SIZE.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ uint16_t cat_type, cat_size;
+
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to read EEPROM size of slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ cat_type = EC_READ_U16(fsm->fsm_sii.value);
+ cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
+
+ if (cat_type != 0xFFFF) { // not the last category
+ off_t next_offset = 2UL + fsm->sii_offset + cat_size;
+ if (next_offset >= EC_MAX_EEPROM_SIZE) {
+ EC_WARN("EEPROM size of slave %i exceeds"
+ " %u words (0xffff limiter missing?).\n",
+ slave->ring_position, EC_MAX_EEPROM_SIZE);
+ // cut off category data...
+ slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
+ goto alloc_eeprom;
+ }
+ fsm->sii_offset = next_offset;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+ return;
+ }
+
+ slave->eeprom_size = (fsm->sii_offset + 1) * 2;
+
+alloc_eeprom:
+ if (slave->eeprom_data) {
+ EC_WARN("Freeing old EEPROM data on slave %i...\n",
+ slave->ring_position);
+ kfree(slave->eeprom_data);
+ }
+
+ if (!(slave->eeprom_data =
+ (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
+ slave->eeprom_size, slave->ring_position);
+ slave->eeprom_size = 0;
+ slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ return;
+ }
+
+ // Start fetching EEPROM contents
+
+ fsm->state = ec_fsm_slave_scan_state_eeprom_data;
+ fsm->sii_offset = 0x0000;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave scan state: EEPROM DATA.
+*/
+
+void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
+
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+ EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ // 2 words fetched
+
+ if (fsm->sii_offset + 2 <= eeprom_word_size) { // 2 words fit
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 4);
+ }
+ else { // copy the last word
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 2);
+ }
+
+ if (fsm->sii_offset + 2 < eeprom_word_size) {
+ // fetch the next 2 words
+ fsm->sii_offset += 2;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_USE_CONFIGURED_ADDRESS);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
+ return;
+ }
+
+ // Evaluate EEPROM contents
+
+ slave->sii_alias =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
+ slave->sii_vendor_id =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
+ slave->sii_product_code =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
+ slave->sii_revision_number =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
+ slave->sii_serial_number =
+ EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
+ slave->sii_rx_mailbox_offset =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
+ slave->sii_rx_mailbox_size =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
+ slave->sii_tx_mailbox_offset =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
+ slave->sii_tx_mailbox_size =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
+ slave->sii_mailbox_protocols =
+ EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
+
+ if (eeprom_word_size == EC_FIRST_EEPROM_CATEGORY_OFFSET) {
+ // eeprom does not contain category data
+ fsm->state = ec_fsm_slave_scan_state_end;
+ return;
+ }
+
+ if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
+ EC_ERR("Unexpected end of EEPROM data in slave %u:"
+ " First category header missing.\n",
+ slave->ring_position);
+ goto end;
+ }
+
+ // evaluate category data
+ cat_word =
+ (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
+ while (EC_READ_U16(cat_word) != 0xFFFF) {
+
+ // type and size words must fit
+ if (cat_word + 2 - (uint16_t *) slave->eeprom_data
+ > eeprom_word_size) {
+ EC_ERR("Unexpected end of EEPROM data in slave %u:"
+ " Category header incomplete.\n",
+ slave->ring_position);
+ goto end;
+ }
+
+ cat_type = EC_READ_U16(cat_word) & 0x7FFF;
+ cat_size = EC_READ_U16(cat_word + 1);
+ cat_word += 2;
+
+ if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
+ > eeprom_word_size) {
+ EC_WARN("Unexpected end of EEPROM data in slave %u:"
+ " Category data incomplete.\n",
+ slave->ring_position);
+ goto end;
+ }
+
+ switch (cat_type) {
+ case 0x000A:
+ if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
+ cat_size * 2))
+ goto end;
+ break;
+ case 0x001E:
+ if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
+ cat_size * 2))
+ goto end;
+ break;
+ case 0x0028:
+ break;
+ case 0x0029:
+ if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
+ cat_size * 2))
+ goto end;
+ break;
+ case 0x0032:
+ if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
+ cat_size * 2, EC_DIR_INPUT)) // TxPdo
+ goto end;
+ break;
+ case 0x0033:
+ if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
+ cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
+ goto end;
+ break;
+ default:
+ if (fsm->slave->master->debug_level)
+ EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+ cat_type, slave->ring_position);
+ }
+
+ cat_word += cat_size;
+ if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
+ EC_WARN("Unexpected end of EEPROM data in slave %u:"
+ " Next category header missing.\n",
+ slave->ring_position);
+ goto end;
+ }
+ }
+
+ fsm->state = ec_fsm_slave_scan_state_end;
+ return;
+
+end:
+ EC_ERR("Failed to analyze category data.\n");
+ fsm->slave->error_flag = 1;
+ fsm->state = ec_fsm_slave_scan_state_error;
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_slave_scan_state_error(
+ ec_fsm_slave_scan_t *fsm /**< slave state machine */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_slave_scan_state_end(
+ ec_fsm_slave_scan_t *fsm /**< slave state machine */
+ )
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave_scan.h Tue Feb 26 13:20:32 2008 +0000
@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT slave scanning state machine.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SLAVE_SCAN__
+#define __EC_FSM_SLAVE_SCAN__
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+#include "datagram.h"
+#include "slave.h"
+#include "fsm_sii.h"
+#include "fsm_change.h"
+#include "fsm_coe.h"
+#include "fsm_pdo_mapping.h"
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+/** \see ec_fsm_slave_scan */
+typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;
+
+/** Finite state machine for scanning an EtherCAT slave.
+ */
+struct ec_fsm_slave_scan
+{
+ ec_slave_t *slave; /**< Slave the FSM runs on. */
+ ec_datagram_t *datagram; /**< Datagram used in the state machine. */
+ unsigned int retries; /**< Retries on datagram timeout. */
+
+ void (*state)(ec_fsm_slave_scan_t *); /**< State function. */
+ uint16_t sii_offset; /**< SII offset in words. */
+
+ ec_fsm_sii_t fsm_sii; /**< SII state machine. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *);
+void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);
+
+void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);
+
+int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);
+int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);
+
+/*****************************************************************************/
+
+#endif