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Added state parameter to ecrt_slave_config_idn().

This commit is contained in:
Florian Pose 2010-06-06 22:40:22 +02:00
parent 74230aaf04
commit 26d4687d0e
8 changed files with 163 additions and 34 deletions
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13
include/ecrt.h
View File

@ -382,6 +382,17 @@ typedef enum {
EC_REQUEST_ERROR, /**< Request processing failed. */
} ec_request_state_t;
/*****************************************************************************/
/** Application-layer state.
*/
typedef enum {
EC_AL_STATE_INIT = 1, /**< Init. */
EC_AL_STATE_PREOP = 2, /**< Pre-operational. */
EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */
EC_AL_STATE_OP = 8, /**< Operational. */
} ec_al_state_t;
/******************************************************************************
* Global functions
*****************************************************************************/
@ -1202,6 +1213,8 @@ void ecrt_slave_config_state(
int ecrt_slave_config_idn(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t idn, /**< SoE IDN. */
ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or
SAFEOP). */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);

3
lib/slave_config.c
View File

@ -473,12 +473,13 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
const uint8_t *data, size_t size)
ec_al_state_t state, const uint8_t *data, size_t size)
{
ec_ioctl_sc_idn_t io;
io.config_index = sc->index;
io.idn = idn;
io.state = state;
io.data = data;
io.size = size;

2
master/cdev.c
View File

@ -2463,7 +2463,7 @@ int ec_cdev_ioctl_sc_idn(
up(&master->master_sem); // FIXME
ret = ecrt_slave_config_idn(sc, ioctl.idn, data, ioctl.size);
ret = ecrt_slave_config_idn(sc, ioctl.idn, ioctl.state, data, ioctl.size);
kfree(data);
return ret;
}

161
master/fsm_slave_config.c
View File

@ -69,7 +69,7 @@ void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_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_soe_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@ -80,6 +80,7 @@ void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
@ -88,7 +89,7 @@ void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_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_soe_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@ -96,6 +97,8 @@ 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_dc_cycle(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_op(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 *);
@ -658,7 +661,7 @@ void ec_fsm_slave_config_enter_sdo_conf(
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
ec_fsm_slave_config_enter_soe_conf(fsm);
ec_fsm_slave_config_enter_soe_conf_preop(fsm);
return;
}
@ -706,47 +709,50 @@ void ec_fsm_slave_config_state_sdo_conf(
}
// All SDOs are now configured.
ec_fsm_slave_config_enter_soe_conf(fsm);
ec_fsm_slave_config_enter_soe_conf_preop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied.
*/
void ec_fsm_slave_config_enter_soe_conf(
void ec_fsm_slave_config_enter_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
// No SoE configuration to be applied?
if (list_empty(&slave->config->soe_configs)) { // skip configuration
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_PREOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf;
fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
ec_soe_request_t, list);
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
// No SoE configuration to be applied in PREOP
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf(
void ec_fsm_slave_config_state_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
@ -770,19 +776,22 @@ void ec_fsm_slave_config_state_soe_conf(
return;
}
// Another IDN to configure?
if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
// Another IDN to configure in PREOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
return;
if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// All SDOs are now configured.
// All PREOP IDNs are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
@ -1416,9 +1425,103 @@ void ec_fsm_slave_config_state_safeop(
return;
}
ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied in SAFEOP.
*/
void ec_fsm_slave_config_enter_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_op(fsm);
return;
}
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_SAFEOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// No SoE configuration to be applied in SAFEOP
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (ec_fsm_soe_exec(fsm_soe)) {
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
return;
}
if (!ec_fsm_soe_success(fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
if (!fsm->slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
// Another IDN to configure in SAFEOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// All SAFEOP IDNs are now configured.
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Bring slave to OP.
*/
void ec_fsm_slave_config_enter_op(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// 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_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_OP);
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
}

1
master/ioctl.h
View File

@ -583,6 +583,7 @@ typedef struct {
// inputs
uint32_t config_index;
uint16_t idn;
ec_al_state_t state;
const uint8_t *data;
size_t size;
} ec_ioctl_sc_idn_t;

14
master/slave_config.c
View File

@ -939,14 +939,21 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
const uint8_t *data, size_t size)
ec_al_state_t state, const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_soe_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, "
"data = 0x%p, size = %zu)\n", __func__, sc, idn, data, size);
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, state = %u, "
"data = 0x%p, size = %zu)\n",
__func__, sc, idn, state, data, size);
if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
EC_CONFIG_ERR(sc, "AL state for IDN config"
" must be PREOP or SAFEOP!\n");
return -EINVAL;
}
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
@ -961,6 +968,7 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
ec_soe_request_init(req);
ec_soe_request_set_idn(req, idn);
req->al_state = state;
ret = ec_soe_request_copy_data(req, data, size);
if (ret < 0) {

2
master/soe_request.c
View File

@ -56,6 +56,7 @@ void ec_soe_request_init(
ec_soe_request_t *req /**< SoE request. */
)
{
req->al_state = EC_AL_STATE_INIT;
req->data = NULL;
req->mem_size = 0;
req->data_size = 0;
@ -86,6 +87,7 @@ int ec_soe_request_copy(
)
{
req->idn = other->idn;
req->al_state = other->al_state;
return ec_soe_request_copy_data(req, other->data, other->data_size);
}

1
master/soe_request.h
View File

@ -48,6 +48,7 @@
typedef struct {
struct list_head list; /**< List item. */
uint16_t idn; /**< Sercos ID-Number. */
ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
uint8_t *data; /**< Pointer to SDO data. */
size_t mem_size; /**< Size of SDO data memory. */
size_t data_size; /**< Size of SDO data. */