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Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().

This commit is contained in:
Florian Pose 2006-10-27 12:45:22 +00:00
parent dcb9f67263
commit 1154f9294d
3 changed files with 79 additions and 38 deletions
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54
master/fsm.c
View File

@ -68,6 +68,7 @@ void ec_fsm_slavescan_datalink(ec_fsm_t *);
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
void ec_fsm_slaveconf_start(ec_fsm_t *);
void ec_fsm_slaveconf_init(ec_fsm_t *);
void ec_fsm_slaveconf_sync(ec_fsm_t *);
void ec_fsm_slaveconf_preop(ec_fsm_t *);
@ -136,6 +137,17 @@ int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state(fsm);
return ec_fsm_running(fsm);
}
/*****************************************************************************/
/**
\return false, if state machine has terminated
*/
int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)
{
return fsm->master_state != ec_fsm_master_end
&& fsm->master_state != ec_fsm_master_error;
}
@ -303,28 +315,25 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
|| !slave->online
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| (slave->current_state == slave->requested_state
&& (slave->configured
|| slave->current_state == EC_SLAVE_STATE_INIT))) continue;
&& slave->configured)) continue;
if (master->debug_level) {
ec_state_string(slave->current_state, old_state);
if (!slave->configured
&& slave->current_state != EC_SLAVE_STATE_INIT) {
EC_INFO("Reconfiguring slave %i (%s).\n",
slave->ring_position, old_state);
}
else if (slave->current_state != slave->requested_state) {
if (slave->current_state != slave->requested_state) {
ec_state_string(slave->requested_state, new_state);
EC_INFO("Changing state of slave %i (%s -> %s).\n",
slave->ring_position, old_state, new_state);
EC_DBG("Changing state of slave %i (%s -> %s).\n",
slave->ring_position, old_state, new_state);
}
else if (!slave->configured) {
EC_DBG("Reconfiguring slave %i (%s).\n",
slave->ring_position, old_state);
}
}
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_init;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fsm->master_state = ec_fsm_master_configure_slave;
fsm->master_state(fsm); // execute immediately
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->slave_state(fsm); // execute immediately
return;
}
@ -1192,6 +1201,23 @@ end:
* slave configuration state machine
*****************************************************************************/
/**
Slave configuration state: START.
*/
void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
{
if (fsm->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->slave_state = ec_fsm_slaveconf_init;
}
/*****************************************************************************/
/**
Slave configuration state: INIT.
*/

6
master/fsm.h
View File

@ -86,8 +86,14 @@ int ec_fsm_init(ec_fsm_t *, ec_master_t *);
void ec_fsm_clear(ec_fsm_t *);
int ec_fsm_exec(ec_fsm_t *);
int ec_fsm_running(ec_fsm_t *);
int ec_fsm_success(ec_fsm_t *);
// FIXME
void ec_fsm_slaveconf_start(ec_fsm_t *);
void ec_fsm_slave_end(ec_fsm_t *);
void ec_fsm_slave_error(ec_fsm_t *);
/*****************************************************************************/
#endif

57
master/master.c
View File

@ -373,14 +373,11 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
ecrt_master_receive(master);
}
// finish running FSM
while (ec_fsm_exec(&master->fsm)) {
ec_master_sync_io(master);
}
if (!ec_fsm_success(&master->fsm)) {
EC_ERR("Master state machine failure!\n");
goto out_idle;
// finish running master FSM
if (ec_fsm_running(&master->fsm)) {
while (ec_fsm_exec(&master->fsm)) {
ec_master_sync_io(master);
}
}
if (master->debug_level) {
@ -427,14 +424,26 @@ void ec_master_leave_operation_mode(ec_master_t *master
ecrt_master_receive(master);
}
// finish running master FSM
if (ec_fsm_running(fsm)) {
while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
}
}
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
// execute master FSM to deactivate slaves
while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
do {
fsm->slave_state(fsm);
ec_master_sync_io(master);
}
while (fsm->slave_state != ec_fsm_slave_end
&& fsm->slave_state != ec_fsm_slave_error);
}
ec_master_destroy_domains(master);
@ -1319,19 +1328,19 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
domain_offset += domain->data_size;
}
// execute master FSM until termination
while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
}
if (!ec_fsm_success(fsm)) {
EC_ERR("Error in master state machine.\n");
return -1;
}
// check, if all slaves have been configured
// configure all slaves
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag || !slave->online) {
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
do {
fsm->slave_state(fsm);
ec_master_sync_io(master);
}
while (fsm->slave_state != ec_fsm_slave_end
&& fsm->slave_state != ec_fsm_slave_error);
if (fsm->slave_state == ec_fsm_slave_error) {
EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
return -1;
}