Fixed typo SAVEOP -> SAFEOP.
This commit is contained in:
Florian Pose
parent
a395eed1ca
commit
0921c356a1
1
TODO
1
TODO
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@ -24,7 +24,6 @@ Version 1.4.0:
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* Support slaves, that don't support the LRW datagram, only LRD/LWR.
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* Implement all EtherCAT datagram types.
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* Rename all occurrences of PDO to Pdo.
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* Rename SAVEOP to SAFEOP?
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Future issues:
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@ -2827,7 +2827,7 @@ usually done like in the listing below, which is taken out of the
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slave configuration state machine code:
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\begin{lstlisting}[language=C,numbers=left]
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void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm)
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void ec_fsm_slaveconf_safeop(ec_fsm_t *fsm)
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{
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fsm->change_state(fsm); // execute state change
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// sub state machine
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@ -3191,8 +3191,8 @@ configuring a slave and bringing it to a certain state.
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sending the first SDO. $\rightarrow$~SDO\_CONF
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If no SDO configurations are provided, the slave can now directly be
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brought into the SAVEOP state and the state change state machine is
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started again. $\rightarrow$~SAVEOP
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brought into the SAFEOP state and the state change state machine is
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started again. $\rightarrow$~SAFEOP
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Otherwise, all supported FMMUs are configured according to the PDOs
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requested via the master's realtime interface. The appropriate
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@ -3202,9 +3202,9 @@ configuring a slave and bringing it to a certain state.
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has SDOs to configure, it is begun with sending the first SDO.
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$\rightarrow$~SDO\_CONF
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Otherwise, the slave can now be brought into the SAVEOP state. The
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Otherwise, the slave can now be brought into the SAFEOP state. The
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state change state machine is started.
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$\rightarrow$~SAVEOP
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$\rightarrow$~SAFEOP
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\item[SDO\_CONF] The CoE state machine is executed until termination.
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$\rightarrow$~SDO\_CONF
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@ -3212,17 +3212,17 @@ configuring a slave and bringing it to a certain state.
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If another SDO has to be configured, a new SDO download sequence is
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begun. $\rightarrow$~SDO\_CONF
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Otherwise, the slave can now be brought into the SAVEOP state. The
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Otherwise, the slave can now be brought into the SAFEOP state. The
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state change state machine is started.
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$\rightarrow$~SAVEOP
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$\rightarrow$~SAFEOP
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\item[SAVEOP] The state change state machine is executed until
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termination. $\rightarrow$~SAVEOP
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\item[SAFEOP] The state change state machine is executed until
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termination. $\rightarrow$~SAFEOP
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If the state change failed, the configuration has to be aborted.
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$\rightarrow$~END
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If the SAVEOP state was the target state, the configuration is
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If the SAFEOP state was the target state, the configuration is
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finished. $\rightarrow$~END
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The slave can now directly be brought into the OP state and the
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@ -3631,10 +3631,10 @@ but does not apply them at once.
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The best time to apply SDO configurations is during the slave's PREOP
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state, because mailbox communication is already possible and slave's
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application will start with updating input data in the succeeding
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SAVEOP state. Therefore the SDO configuration has to be part of the
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SAFEOP state. Therefore the SDO configuration has to be part of the
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slave configuration state machine (see section~\ref{sec:fsm-conf}): It
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is implemented via an SDO download state machine, that is executed
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just before entering the slave's SAVEOP state. In this way, it is
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just before entering the slave's SAFEOP state. In this way, it is
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guaranteed that the SDO configurations are applied each time, the
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slave is reconfigured.
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@ -3890,15 +3890,15 @@ the EtherCAT bus. Below is a listing of a slave directory:
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\begin{lstlisting}[gobble=4]
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# `\textbf{cat /sys/ethercat0/slave003/state}`
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OP
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# `\textbf{echo SAVEOP > /sys/ethercat0/slave003/state}`
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# `\textbf{echo SAFEOP > /sys/ethercat0/slave003/state}`
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\end{lstlisting}
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This command should also be receipted with a syslog message:
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\begin{lstlisting}[gobble=4]
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EtherCAT: Accepted new state SAVEOP for slave 3.
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EtherCAT: Changing state of slave 3 from OP to SAVEOP.
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EtherCAT: Slave states: INIT, SAVEOP, OP.
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EtherCAT: Accepted new state SAFEOP for slave 3.
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EtherCAT: Changing state of slave 3 from OP to SAFEOP.
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EtherCAT: Slave states: INIT, SAFEOP, OP.
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\end{lstlisting}
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After the new requested state was accepted from user space, the
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@ -3996,7 +3996,7 @@ in an output like this:
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0 1:0 OP EK1100 Ethernet Kopplerklemme (2A E-Bus)
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1 1:1 INIT EL4132 2K. Ana. Ausgang +/-10V
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2 1:2 INIT EL4132 2K. Ana. Ausgang +/-10V
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3 1:3 SAVEOP EL4132 2K. Ana. Ausgang +/-10V
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3 1:3 SAFEOP EL4132 2K. Ana. Ausgang +/-10V
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4 1:4 INIT EL5101 Incremental Encoder Interface
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5 1:5 INIT EL1014 4K. Dig. Eingang 24V, 10s
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6 1:6 OP EL6601 1 Port Switch (Ethernet, CoE)
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@ -11,7 +11,7 @@ digraph slaveconf {
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enter_sdo_conf [shape=point,label=""]
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enter_mapping [shape=point,label=""]
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enter_pdo_sync [shape=point,label=""]
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enter_saveop [shape=point,label=""]
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enter_safeop [shape=point,label=""]
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start -> init [weight=10]
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init -> init
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@ -31,7 +31,7 @@ digraph slaveconf {
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preop -> error
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preop -> end [label="PREOP req."]
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preop -> enter_sdo_conf [weight=10]
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enter_sdo_conf -> enter_saveop [label="No configuration"]
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enter_sdo_conf -> enter_safeop [label="No configuration"]
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enter_sdo_conf -> enter_mapping [label="No SDO configs"]
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enter_sdo_conf -> sdo_conf [label="SDO configs", weight=10]
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sdo_conf -> sdo_conf
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@ -49,16 +49,16 @@ digraph slaveconf {
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pdo_sync -> pdo_sync
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pdo_sync -> error
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pdo_sync -> enter_fmmu [weight=10]
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enter_fmmu -> enter_saveop
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enter_fmmu -> enter_safeop
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enter_fmmu -> fmmu [label="FMMUs to configure", weight=10]
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fmmu -> fmmu
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fmmu -> error
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fmmu -> enter_saveop [weight=10]
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enter_saveop -> saveop
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saveop -> saveop
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saveop -> error
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saveop -> end [label="SAVEOP req."]
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saveop -> op [weight=10]
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fmmu -> enter_safeop [weight=10]
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enter_safeop -> safeop
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safeop -> safeop
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safeop -> error
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safeop -> end [label="SAFEOP req."]
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safeop -> op [weight=10]
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op -> op
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op -> error
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op -> end [weight=10]
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@ -1,8 +1,8 @@
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%!PS-Adobe-2.0 EPSF-2.0
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%%Title: fsm-slaveconf.fig
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%%Creator: fig2dev Version 3.2 Patchlevel 4
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%%CreationDate: Sat Aug 5 09:10:48 2006
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%%For: fp@jupiter (Florian Pose)
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%%CreationDate: Fri Feb 22 12:24:01 2008
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%%For: fp@fetlas (Florian Pose)
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%%BoundingBox: 0 0 316 492
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%%Magnification: 1.0000
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%%EndComments
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@ -142,7 +142,7 @@ n 4275 6878 855 360 0 360 DrawEllipse gs col0 s gr
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/Helvetica ff 180.00 scf sf
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4275 6923 m
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gs 1 -1 sc (SAVEOP) dup sw pop 2 div neg 0 rm col0 sh gr
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gs 1 -1 sc (SAFEOP) dup sw pop 2 div neg 0 rm col0 sh gr
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% Ellipse
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n 4275 8003 855 360 0 360 DrawEllipse gs col0 s gr
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@ -10,36 +10,36 @@ Single
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0 32 #8e8e8e
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6 3413 893 5137 1627
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 1260 855 360 3420 900 5130 1620
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4 1 0 50 -1 16 12 0.0000 4 120 585 4275 1305 INIT\001
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4 1 0 50 -1 16 12 0.0000 4 135 330 4275 1305 INIT\001
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-6
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6 3413 2011 5137 2745
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 2378 855 360 3420 2018 5130 2738
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4 1 0 50 -1 16 12 0.0000 4 120 930 4275 2423 SYNC\001
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4 1 0 50 -1 16 12 0.0000 4 135 525 4275 2423 SYNC\001
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-6
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6 3413 3136 5137 3870
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 3503 855 360 3420 3143 5130 3863
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4 1 0 50 -1 16 12 0.0000 4 120 1170 4275 3548 PREOP\001
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4 1 0 50 -1 16 12 0.0000 4 135 630 4275 3548 PREOP\001
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-6
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6 3413 4261 5137 4995
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 4628 855 360 3420 4268 5130 4988
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4 1 0 50 -1 16 12 0.0000 4 120 945 4275 4673 FMMU\001
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4 1 0 50 -1 16 12 0.0000 4 135 570 4275 4673 FMMU\001
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-6
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6 3360 5386 5190 6120
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 5753 855 360 3420 5393 5130 6113
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4 1 0 50 -1 16 12 0.0000 4 150 1830 4275 5798 SDO_CONF\001
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4 1 0 50 -1 16 12 0.0000 4 165 1050 4275 5798 SDO_CONF\001
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-6
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6 3413 6511 5137 7245
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6 3375 6480 5175 7245
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 6878 855 360 3420 6518 5130 7238
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4 1 0 50 -1 16 12 0.0000 4 120 1380 4275 6923 SAVEOP\001
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4 1 0 50 -1 16 12 0.0000 4 135 765 4275 6923 SAFEOP\001
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-6
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6 3413 7636 5137 8370
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 4275 8003 855 360 3420 7643 5130 8363
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4 1 0 50 -1 16 12 0.0000 4 120 480 4275 8048 OP\001
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4 1 0 50 -1 16 12 0.0000 4 135 270 4275 8048 OP\001
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-6
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6 6075 4230 7830 4995
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 6968 4628 855 360 6113 4268 7823 4988
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1 2 0 1 0 7 50 -1 -1 0.000 1 0.0000 6968 4635 748 315 6220 4320 7716 4950
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4 1 0 50 -1 16 12 0.0000 4 120 705 6968 4673 END\001
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4 1 0 50 -1 16 12 0.0000 4 135 390 6968 4673 END\001
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-6
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1 3 0 1 0 0 50 -1 20 0.000 1 0.0000 3510 675 101 101 3510 675 3600 720
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3 2 0 1 0 0 50 -1 20 0.000 0 1 0 2
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@ -1,9 +1,9 @@
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%!PS-Adobe-2.0 EPSF-2.0
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%%Title: uml-fsm.fig
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%%Creator: fig2dev Version 3.2 Patchlevel 4
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%%CreationDate: Mon Aug 7 19:25:18 2006
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%%For: fp@jupiter (Florian Pose)
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%%BoundingBox: 0 0 500 461
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%%CreationDate: Fri Feb 22 12:25:41 2008
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%%For: fp@fetlas (Florian Pose)
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%%BoundingBox: 0 0 498 461
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%%Magnification: 1.0000
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%%EndComments
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/$F2psDict 200 dict def
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@ -46,7 +46,7 @@ $F2psDict /mtrx matrix put
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end
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save
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newpath 0 461 moveto 0 0 lineto 600 0 lineto 600 461 lineto closepath clip newpath
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newpath 0 461 moveto 0 0 lineto 498 0 lineto 498 461 lineto closepath clip newpath
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-27.6 488.3 translate
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1 -1 scale
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@ -282,7 +282,7 @@ gs 1 -1 sc (- ec_fsm_slaveconf_fmmu\(\)) col0 sh gr
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gs 1 -1 sc (- ec_fsm_slaveconf_sdoconf\(\)) col0 sh gr
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/Helvetica-iso ff 180.00 scf sf
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4725 4005 m
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gs 1 -1 sc (- ec_fsm_slaveconf_saveop\(\)) col0 sh gr
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gs 1 -1 sc (- ec_fsm_slaveconf_safeop\(\)) col0 sh gr
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/Helvetica-iso ff 180.00 scf sf
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4725 4185 m
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gs 1 -1 sc (- ec_fsm_slaveconf_op\(\)) col0 sh gr
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@ -16,78 +16,78 @@ Single
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4635 450 4635 7740 8325 7740 8325 450
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2 1 0 1 0 7 110 -1 20 0.000 0 0 -1 0 0 4
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450 7695 450 450 4140 450 4140 7740
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4 0 0 100 0 16 12 0.0000 4 150 1275 540 675 ec_fsm_t\001
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4 0 0 100 0 16 12 0.0000 4 150 3045 540 990 master: ec_master_t *\001
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4 0 0 100 -1 16 12 0.0000 4 150 2655 540 1170 slave: ec_slave_t *\001
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4 0 0 100 -1 16 12 0.0000 4 165 3600 540 1350 datagram: ec_datagram_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 4650 540 1530 master_state: void (*)(ec_fsm_t *)\001
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4 0 0 100 -1 16 12 0.0000 4 165 5730 540 1710 master_slaves_responding: unsigned int\001
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4 0 0 100 -1 16 12 0.0000 4 150 5475 540 1890 master_slave_states: ec_slave_state_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 4380 540 2070 master_validation: unsigned int\001
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4 0 0 100 -1 16 12 0.0000 4 165 4455 540 2250 slave_state: void (*)(ec_fsm_t *)\001
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4 0 0 100 -1 16 12 0.0000 4 165 4005 540 2430 sii_state: void (*)(ec_fsm_t *)\001
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4 0 0 100 -1 16 12 0.0000 4 150 2520 540 2610 sii_offset: uint16_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 3165 540 2790 sii_mode: unsigned int\001
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4 0 0 100 -1 16 12 0.0000 4 165 2700 540 2970 sii_value: uint8_t[4]\001
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4 0 0 100 -1 16 12 0.0000 4 165 2415 540 3150 sii_start: cycles_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 4755 540 3330 change_state: void (*)(ec_fsm_t *)\001
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4 0 0 100 -1 16 12 0.0000 4 165 4470 540 3510 change_new: ec_sllave_state_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 3165 540 3690 change_start: cycles_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 4215 540 3870 coe_state: void (*)(ec_fsm_t *)\001
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4 0 0 100 -1 16 12 0.0000 4 150 3585 540 4050 sdodata: ec_sdo_data_t *\001
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4 0 0 100 -1 16 12 0.0000 4 165 2625 540 4230 coe_start: cycles_t\001
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4 0 0 100 -1 16 12 0.0000 4 165 2550 540 4590 + ec_fsm_init(): int\001
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4 0 0 100 -1 16 12 0.0000 4 165 2370 540 4770 + ec_fsm_clear()\001
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4 0 0 100 -1 16 12 0.0000 4 165 2370 540 4950 + ec_fsm_reset()\001
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4 0 0 100 -1 16 12 0.0000 4 165 2790 540 5130 + ec_fsm_execute()\001
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4 0 0 100 -1 16 12 0.0000 4 165 2625 540 5310 + ec_fsm_startup()\001
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4 0 0 100 -1 16 12 0.0000 4 165 4365 540 5490 + ec_fsm_startup_running(): int\001
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4 0 0 100 -1 16 12 0.0000 4 165 4470 540 5670 + ec_fsm_startup_success(): int\001
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4 0 0 100 -1 16 12 0.0000 4 165 3495 540 5850 + ec_fsm_configuration()\001
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4 0 0 100 -1 16 12 0.0000 4 165 5235 540 6030 + ec_fsm_configuration_running(): int\001
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4 0 0 50 -1 16 12 0.0000 4 165 4200 4725 1665 - ec_fsm_configuration_conf()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3825 4725 1845 - ec_fsm_slavescan_start()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4380 4725 2025 - ec_fsm_slavescan_address()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3900 4725 2205 - ec_fsm_slavescan_state()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3930 4725 2385 - ec_fsm_slavescan_base()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4335 4725 2565 - ec_fsm_slavescan_datalink()\001
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4 0 0 50 -1 16 12 0.0000 4 165 5070 4725 2745 - ec_fsm_slavescan_eeprom_size()\001
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4 0 0 50 -1 16 12 0.0000 4 165 5100 4725 2925 - ec_fsm_slavescan_eeprom_data()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3540 4725 3105 - ec_fsm_slaveconf_init()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3810 4725 3285 - ec_fsm_slaveconf_sync()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3960 4725 3465 - ec_fsm_slaveconf_preop()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3900 4725 3645 - ec_fsm_slaveconf_fmmu()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4260 4725 3825 - ec_fsm_slaveconf_sdoconf()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4185 4725 4005 - ec_fsm_slaveconf_saveop()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3495 4725 4185 - ec_fsm_slaveconf_op()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3945 4725 4365 - ec_fsm_sii_start_reading()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3765 4725 4545 - ec_fsm_sii_read_check()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3585 4725 4725 - ec_fsm_sii_read_fetch()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3795 4725 4905 - ec_fsm_sii_start_writing()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3795 4725 5085 - ec_fsm_sii_write_check()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3975 4725 5265 - ec_fsm_sii_write_check2()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3435 4725 5445 - ec_fsm_change_start()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3690 4725 5625 - ec_fsm_change_check()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3675 4725 5805 - ec_fsm_change_status()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3540 4725 5985 - ec_fsm_change_code()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3345 4725 6165 - ec_fsm_change_ack()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4380 4725 6345 - ec_fsm_change_check_ack()\001
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4 0 0 50 -1 16 12 0.0000 4 165 3855 4725 6525 - ec_fsm_coe_down_start()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4320 4725 6705 - ec_fsm_coe_down_request()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4110 4725 6885 - ec_fsm_coe_down_check()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4590 4725 7065 - ec_fsm_coe_down_response()\001
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4 0 0 50 -1 16 12 0.0000 4 165 2130 4725 7245 - ec_fsm_end()\001
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4 0 0 50 -1 16 12 0.0000 4 165 2265 4725 7425 - ec_fsm_error()\001
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4 0 0 50 -1 16 12 0.0000 4 165 4665 4725 765 - ec_fsm_master_write_eeprom()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 3330 4725 945 - ec_fsm_startup_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 4140 4725 1125 - ec_fsm_startup_broadcast()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 3420 4725 1305 - ec_fsm_startup_scan()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 4200 4725 1485 - ec_fsm_configuration_start()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 165 5340 540 6210 + ec_fsm_configuration_success(): int\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 3330 540 6390 - ec_fsm_master_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 4140 540 6570 - ec_fsm_master_broadcast()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 4395 540 6750 - ec_fsm_master_read_states()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 5010 540 6930 - ec_fsm_master_validate_vendor()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 5085 540 7110 - ec_fsm_master_validate_product()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 5370 540 7290 - ec_fsm_master_rewrite_addresses()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 165 5160 540 7470 - ec_fsm_master_configure_slaves()\001
|
||||
4 0 0 100 0 16 12 0.0000 4 165 735 540 675 ec_fsm_t\001
|
||||
4 0 0 100 0 16 12 0.0000 4 165 1785 540 990 master: ec_master_t *\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 165 1605 540 1170 slave: ec_slave_t *\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2100 540 1350 datagram: ec_datagram_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2745 540 1530 master_state: void (*)(ec_fsm_t *)\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 3345 540 1710 master_slaves_responding: unsigned int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 165 3195 540 1890 master_slave_states: ec_slave_state_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2580 540 2070 master_validation: unsigned int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2655 540 2250 slave_state: void (*)(ec_fsm_t *)\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2385 540 2430 sii_state: void (*)(ec_fsm_t *)\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 165 1485 540 2610 sii_offset: uint16_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1860 540 2790 sii_mode: unsigned int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1605 540 2970 sii_value: uint8_t[4]\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1440 540 3150 sii_start: cycles_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2835 540 3330 change_state: void (*)(ec_fsm_t *)\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2640 540 3510 change_new: ec_sllave_state_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1890 540 3690 change_start: cycles_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2520 540 3870 coe_state: void (*)(ec_fsm_t *)\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 165 2130 540 4050 sdodata: ec_sdo_data_t *\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1575 540 4230 coe_start: cycles_t\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1515 540 4590 + ec_fsm_init(): int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1395 540 4770 + ec_fsm_clear()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1380 540 4950 + ec_fsm_reset()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1635 540 5130 + ec_fsm_execute()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 1530 540 5310 + ec_fsm_startup()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2565 540 5490 + ec_fsm_startup_running(): int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2625 540 5670 + ec_fsm_startup_success(): int\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 2055 540 5850 + ec_fsm_configuration()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 3090 540 6030 + ec_fsm_configuration_running(): int\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2490 4725 1665 - ec_fsm_configuration_conf()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2250 4725 1845 - ec_fsm_slavescan_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2565 4725 2025 - ec_fsm_slavescan_address()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2295 4725 2205 - ec_fsm_slavescan_state()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2310 4725 2385 - ec_fsm_slavescan_base()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2550 4725 2565 - ec_fsm_slavescan_datalink()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2955 4725 2745 - ec_fsm_slavescan_eeprom_size()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2985 4725 2925 - ec_fsm_slavescan_eeprom_data()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2100 4725 3105 - ec_fsm_slaveconf_init()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2265 4725 3285 - ec_fsm_slaveconf_sync()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2340 4725 3465 - ec_fsm_slaveconf_preop()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2280 4725 3645 - ec_fsm_slaveconf_fmmu()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2520 4725 3825 - ec_fsm_slaveconf_sdoconf()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2415 4725 4005 - ec_fsm_slaveconf_safeop()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2070 4725 4185 - ec_fsm_slaveconf_op()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2310 4725 4365 - ec_fsm_sii_start_reading()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2220 4725 4545 - ec_fsm_sii_read_check()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2115 4725 4725 - ec_fsm_sii_read_fetch()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2220 4725 4905 - ec_fsm_sii_start_writing()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2235 4725 5085 - ec_fsm_sii_write_check()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2340 4725 5265 - ec_fsm_sii_write_check2()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2025 4725 5445 - ec_fsm_change_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2190 4725 5625 - ec_fsm_change_check()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2160 4725 5805 - ec_fsm_change_status()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2100 4725 5985 - ec_fsm_change_code()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1980 4725 6165 - ec_fsm_change_ack()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2595 4725 6345 - ec_fsm_change_check_ack()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2265 4725 6525 - ec_fsm_coe_down_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2535 4725 6705 - ec_fsm_coe_down_request()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2430 4725 6885 - ec_fsm_coe_down_check()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2685 4725 7065 - ec_fsm_coe_down_response()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1260 4725 7245 - ec_fsm_end()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1335 4725 7425 - ec_fsm_error()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2700 4725 765 - ec_fsm_master_write_eeprom()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1950 4725 945 - ec_fsm_startup_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2430 4725 1125 - ec_fsm_startup_broadcast()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2010 4725 1305 - ec_fsm_startup_scan()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2475 4725 1485 - ec_fsm_configuration_start()\001
|
||||
4 0 0 100 -1 16 12 0.0000 4 180 3150 540 6210 + ec_fsm_configuration_success(): int\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 1935 540 6390 - ec_fsm_master_start()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2415 540 6570 - ec_fsm_master_broadcast()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2550 540 6750 - ec_fsm_master_read_states()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2940 540 6930 - ec_fsm_master_validate_vendor()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 2985 540 7110 - ec_fsm_master_validate_product()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 3105 540 7290 - ec_fsm_master_rewrite_addresses()\001
|
||||
4 0 0 50 -1 16 12 0.0000 4 180 3015 540 7470 - ec_fsm_master_configure_slaves()\001
|
||||
|
|
|
|||
|
|
@ -348,7 +348,7 @@ const ec_code_msg_t al_status_messages[] = {
|
|||
{0x0020, "Slave needs cold start"},
|
||||
{0x0021, "Slave needs INIT"},
|
||||
{0x0022, "Slave needs PREOP"},
|
||||
{0x0023, "Slave needs SAVEOP"},
|
||||
{0x0023, "Slave needs SAFEOP"},
|
||||
{0x0030, "Invalid DC SYNCH configuration"},
|
||||
{0x0031, "Invalid DC latch configuration"},
|
||||
{0x0032, "PLL error"},
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@ 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_saveop(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 *);
|
||||
|
|
@ -73,7 +73,7 @@ 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_saveop(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 *);
|
||||
|
|
@ -878,7 +878,7 @@ void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *fsm /**< slave state machi
|
|||
|
||||
if (!slave->config) {
|
||||
EC_DBG("Slave %u is not configured.\n", slave->ring_position);
|
||||
ec_fsm_slave_conf_enter_saveop(fsm);
|
||||
ec_fsm_slave_conf_enter_safeop(fsm);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1089,7 +1089,7 @@ void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
|
|||
const ec_sync_t *sync;
|
||||
|
||||
if (!slave->base_fmmu_count) { // skip FMMU configuration
|
||||
ec_fsm_slave_conf_enter_saveop(fsm);
|
||||
ec_fsm_slave_conf_enter_safeop(fsm);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1144,29 +1144,29 @@ void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
|
|||
return;
|
||||
}
|
||||
|
||||
ec_fsm_slave_conf_enter_saveop(fsm);
|
||||
ec_fsm_slave_conf_enter_safeop(fsm);
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**
|
||||
* Request SAVEOP state.
|
||||
* Request SAFEOP state.
|
||||
*/
|
||||
|
||||
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
|
||||
void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *fsm /**< slave state machine */)
|
||||
{
|
||||
fsm->state = ec_fsm_slave_conf_state_saveop;
|
||||
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
|
||||
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: SAVEOP.
|
||||
Slave configuration state: SAFEOP.
|
||||
*/
|
||||
|
||||
void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
|
||||
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;
|
||||
|
|
@ -1180,10 +1180,10 @@ void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine
|
|||
return;
|
||||
}
|
||||
|
||||
// slave is now in SAVEOP
|
||||
// slave is now in SAFEOP
|
||||
|
||||
if (master->debug_level) {
|
||||
EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
|
||||
EC_DBG("Slave %i is now in SAFEOP.\n", slave->ring_position);
|
||||
}
|
||||
|
||||
if (fsm->slave->current_state == fsm->slave->requested_state) {
|
||||
|
|
|
|||
|
|
@ -383,9 +383,9 @@ size_t ec_state_string(uint8_t states, /**< slave states */
|
|||
off += sprintf(buffer + off, "PREOP");
|
||||
first = 0;
|
||||
}
|
||||
if (states & EC_SLAVE_STATE_SAVEOP) {
|
||||
if (states & EC_SLAVE_STATE_SAFEOP) {
|
||||
if (!first) off += sprintf(buffer + off, ", ");
|
||||
off += sprintf(buffer + off, "SAVEOP");
|
||||
off += sprintf(buffer + off, "SAFEOP");
|
||||
first = 0;
|
||||
}
|
||||
if (states & EC_SLAVE_STATE_OP) {
|
||||
|
|
|
|||
|
|
@ -1035,8 +1035,8 @@ ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
|
|||
return sprintf(buffer, "INIT\n");
|
||||
case EC_SLAVE_STATE_PREOP:
|
||||
return sprintf(buffer, "PREOP\n");
|
||||
case EC_SLAVE_STATE_SAVEOP:
|
||||
return sprintf(buffer, "SAVEOP\n");
|
||||
case EC_SLAVE_STATE_SAFEOP:
|
||||
return sprintf(buffer, "SAFEOP\n");
|
||||
case EC_SLAVE_STATE_OP:
|
||||
return sprintf(buffer, "OP\n");
|
||||
default:
|
||||
|
|
@ -1084,8 +1084,8 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
|
|||
ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
|
||||
else if (!strcmp(buffer, "PREOP\n"))
|
||||
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
|
||||
else if (!strcmp(buffer, "SAVEOP\n"))
|
||||
ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
|
||||
else if (!strcmp(buffer, "SAFEOP\n"))
|
||||
ec_slave_request_state(slave, EC_SLAVE_STATE_SAFEOP);
|
||||
else if (!strcmp(buffer, "OP\n"))
|
||||
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
|
||||
else {
|
||||
|
|
|
|||
|
|
@ -62,8 +62,8 @@ typedef enum {
|
|||
/**< INIT state (no mailbox communication, no IO) */
|
||||
EC_SLAVE_STATE_PREOP = 0x02,
|
||||
/**< PREOP state (mailbox communication, no IO) */
|
||||
EC_SLAVE_STATE_SAVEOP = 0x04,
|
||||
/**< SAVEOP (mailbox communication and input update) */
|
||||
EC_SLAVE_STATE_SAFEOP = 0x04,
|
||||
/**< SAFEOP (mailbox communication and input update) */
|
||||
EC_SLAVE_STATE_OP = 0x08,
|
||||
/**< OP (mailbox communication and input/output update) */
|
||||
EC_SLAVE_STATE_ACK_ERR = 0x10
|
||||
|
|
|
|||
Loading…
Reference in New Issue