bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Separated slave scan sub state machine and slave configuration sub state machine.

This commit is contained in:
Florian Pose 2006-07-19 15:28:34 +00:00
parent d3bdfe45ba
commit 3da6964ed6
1 changed files with 89 additions and 75 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

164
master/fsm.c
View File

@ -54,22 +54,23 @@ void ec_fsm_master_configure_slave(ec_fsm_t *);
void ec_fsm_master_scan_slaves(ec_fsm_t *);
void ec_fsm_master_write_eeprom(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
void ec_fsm_slave_read_state(ec_fsm_t *);
void ec_fsm_slave_read_base(ec_fsm_t *);
void ec_fsm_slave_read_dl(ec_fsm_t *);
void ec_fsm_slave_eeprom_size(ec_fsm_t *);
void ec_fsm_slave_fetch_eeprom(ec_fsm_t *);
void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *);
void ec_fsm_slave_end(ec_fsm_t *);
void ec_fsm_slavescan_start(ec_fsm_t *);
void ec_fsm_slavescan_state(ec_fsm_t *);
void ec_fsm_slavescan_base(ec_fsm_t *);
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_slavescan_eeprom_data2(ec_fsm_t *);
void ec_fsm_slavescan_end(ec_fsm_t *);
void ec_fsm_slave_conf(ec_fsm_t *);
void ec_fsm_slave_sync(ec_fsm_t *);
void ec_fsm_slave_preop(ec_fsm_t *);
void ec_fsm_slave_fmmu(ec_fsm_t *);
void ec_fsm_slave_saveop(ec_fsm_t *);
void ec_fsm_slave_op(ec_fsm_t *);
void ec_fsm_slave_op2(ec_fsm_t *);
void ec_fsm_slaveconf_start(ec_fsm_t *);
void ec_fsm_slaveconf_sync(ec_fsm_t *);
void ec_fsm_slaveconf_preop(ec_fsm_t *);
void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
void ec_fsm_slaveconf_op2(ec_fsm_t *);
void ec_fsm_slaveconf_end(ec_fsm_t *);
void ec_fsm_sii_start_reading(ec_fsm_t *);
void ec_fsm_sii_read_check(ec_fsm_t *);
@ -262,7 +263,7 @@ void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slave_start_reading;
fsm->slave_state = ec_fsm_slavescan_start;
fsm->master_state = ec_fsm_master_scan_slaves;
fsm->master_state(fsm); // execute immediately
return;
@ -303,7 +304,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
printk(".\n");
fsm->slave = slave;
fsm->slave_state = ec_fsm_slave_conf;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->change_new = EC_SLAVE_STATE_INIT;
fsm->change_state = ec_fsm_change_start;
fsm->master_state = ec_fsm_master_configure_slave;
@ -607,7 +608,7 @@ void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
fsm->slave_state(fsm); // execute slave state machine
if (fsm->slave_state != ec_fsm_slave_end) return;
if (fsm->slave_state != ec_fsm_slavescan_end) return;
// have all slaves been fetched?
if (slave->list.next == &master->slaves) {
@ -682,7 +683,7 @@ void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
// process next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slave_start_reading;
fsm->slave_state = ec_fsm_slavescan_start;
fsm->slave_state(fsm); // execute immediately
}
@ -698,7 +699,7 @@ void ec_fsm_master_configure_slave(ec_fsm_t *fsm
)
{
fsm->slave_state(fsm); // execute slave's state machine
if (fsm->slave_state != ec_fsm_slave_end) return;
if (fsm->slave_state != ec_fsm_slaveconf_end) return;
ec_fsm_master_action_process_states(fsm);
}
@ -742,13 +743,13 @@ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
slave->new_eeprom_data = NULL;
// restart master state machine.
fsm->master_state = ec_fsm_master_start; // TODO: Scan slaves!
fsm->master_state = ec_fsm_master_start; // TODO: Evaluate new contents!
fsm->master_state(fsm); // execute immediately
return;
}
/******************************************************************************
* slave state machine
* slave scan sub state machine
*****************************************************************************/
/**
@ -757,7 +758,7 @@ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
slave, according to its ring position.
*/
void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
@ -765,7 +766,7 @@ void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
EC_WRITE_U16(datagram->data, fsm->slave->station_address);
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slave_read_state;
fsm->slave_state = ec_fsm_slavescan_state;
}
/*****************************************************************************/
@ -774,13 +775,13 @@ void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
Slave state: READ_STATUS.
*/
void ec_fsm_slave_read_state(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to write station address of slave %i.\n",
fsm->slave->ring_position);
return;
@ -789,7 +790,7 @@ void ec_fsm_slave_read_state(ec_fsm_t *fsm /**< finite state machine */)
// Read AL state
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slave_read_base;
fsm->slave_state = ec_fsm_slavescan_base;
}
/*****************************************************************************/
@ -798,14 +799,14 @@ void ec_fsm_slave_read_state(ec_fsm_t *fsm /**< finite state machine */)
Slave state: READ_BASE.
*/
void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to read AL state of slave %i.\n",
fsm->slave->ring_position);
return;
@ -821,7 +822,7 @@ void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
// read base data
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slave_read_dl;
fsm->slave_state = ec_fsm_slavescan_datalink;
}
/*****************************************************************************/
@ -830,14 +831,14 @@ void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
Slave state: READ_DL.
*/
void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to read base data of slave %i.\n",
slave->ring_position);
return;
@ -855,7 +856,7 @@ void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
// read data link status
ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
ec_master_queue_datagram(slave->master, datagram);
fsm->slave_state = ec_fsm_slave_eeprom_size;
fsm->slave_state = ec_fsm_slavescan_eeprom_size;
}
/*****************************************************************************/
@ -865,7 +866,7 @@ void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
Read the actual size of the EEPROM to allocate the EEPROM image.
*/
void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -874,7 +875,7 @@ void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to read DL status of slave %i.\n",
slave->ring_position);
return;
@ -892,7 +893,7 @@ void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_offset = 0x0040; // first category header
fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_state = ec_fsm_slave_fetch_eeprom;
fsm->slave_state = ec_fsm_slavescan_eeprom_data;
fsm->slave_state(fsm); // execute state immediately
}
@ -902,7 +903,7 @@ void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
Slave state: FETCH_EEPROM.
*/
void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;
@ -912,7 +913,7 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to read EEPROM size of slave %i.\n",
slave->ring_position);
return;
@ -941,7 +942,7 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
if (!(slave->eeprom_data =
(uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
slave->ring_position);
return;
@ -952,7 +953,7 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_offset = 0x0000;
fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->slave_state = ec_fsm_slave_fetch_eeprom2;
fsm->slave_state = ec_fsm_slavescan_eeprom_data2;
fsm->slave_state(fsm); // execute state immediately
}
@ -962,7 +963,7 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
Slave state: FETCH_EEPROM2.
*/
void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_eeprom_data2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
uint16_t *cat_word, cat_type, cat_size;
@ -972,7 +973,7 @@ void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
slave->ring_position);
return;
@ -1062,16 +1063,29 @@ void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
end:
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slavescan_end;
}
/*****************************************************************************/
/**
Slave state: END.
End state of the slave state machine.
*/
void ec_fsm_slavescan_end(ec_fsm_t *fsm /**< finite state machine */)
{
}
/******************************************************************************
* slave configuration sub state machine
*****************************************************************************/
/**
Slave state: CONF.
*/
void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@ -1081,7 +1095,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->change_state == ec_fsm_change_error) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
return;
}
@ -1089,7 +1103,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
// slave is now in INIT
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slaveconf_end; // successful
return;
}
@ -1102,7 +1116,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
//ec_slave_check_crc(slave);
if (!slave->base_fmmu_count) { // no fmmus
fsm->slave_state = ec_fsm_slave_sync;
fsm->slave_state = ec_fsm_slaveconf_sync;
fsm->slave_state(fsm); // execute immediately
return;
}
@ -1112,7 +1126,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
EC_FMMU_SIZE * slave->base_fmmu_count);
memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slave_sync;
fsm->slave_state = ec_fsm_slaveconf_sync;
}
/*****************************************************************************/
@ -1122,7 +1136,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
Configure sync managers.
*/
void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -1132,14 +1146,14 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to reset FMMUs of slave %i.\n",
slave->ring_position);
return;
}
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slave_preop;
fsm->slave_state = ec_fsm_slaveconf_preop;
fsm->slave_state(fsm); // execute immediately
return;
}
@ -1155,7 +1169,7 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (eeprom_sync->index >= slave->base_sync_count) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Invalid sync manager configuration found!");
return;
}
@ -1197,7 +1211,7 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slave_preop;
fsm->slave_state = ec_fsm_slaveconf_preop;
}
/*****************************************************************************/
@ -1207,14 +1221,14 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
Change slave state to PREOP.
*/
void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to set sync managers on slave %i.\n",
slave->ring_position);
return;
@ -1222,7 +1236,7 @@ void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
fsm->change_new = EC_SLAVE_STATE_PREOP;
fsm->change_state = ec_fsm_change_start;
fsm->slave_state = ec_fsm_slave_fmmu;
fsm->slave_state = ec_fsm_slaveconf_fmmu;
fsm->change_state(fsm); // execute immediately
}
@ -1233,7 +1247,7 @@ void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
Configure FMMUs.
*/
void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@ -1244,7 +1258,7 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->change_state == ec_fsm_change_error) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
return;
}
@ -1252,18 +1266,18 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
// slave is now in PREOP
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slaveconf_end; // successful
return;
}
// stop activation here for slaves without type
if (!slave->type) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slaveconf_end; // successful
return;
}
if (!slave->base_fmmu_count) {
fsm->slave_state = ec_fsm_slave_saveop;
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->slave_state(fsm); // execute immediately
return;
}
@ -1278,7 +1292,7 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slave_saveop;
fsm->slave_state = ec_fsm_slaveconf_saveop;
}
/*****************************************************************************/
@ -1288,21 +1302,21 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
Set slave state to SAVEOP.
*/
void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
if (fsm->slave->base_fmmu_count && (datagram->state != EC_CMD_RECEIVED ||
datagram->working_counter != 1)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to set FMMUs on slave %i.\n",
fsm->slave->ring_position);
return;
}
// set state to SAVEOP
fsm->slave_state = ec_fsm_slave_op;
fsm->slave_state = ec_fsm_slaveconf_op;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@ -1315,13 +1329,13 @@ void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
Set slave state to OP.
*/
void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
if (fsm->change_state == ec_fsm_change_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
return;
}
@ -1329,12 +1343,12 @@ void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
// slave is now in SAVEOP
if (fsm->slave->current_state == fsm->slave->requested_state) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slaveconf_end; // successful
return;
}
// set state to OP
fsm->slave_state = ec_fsm_slave_op2;
fsm->slave_state = ec_fsm_slaveconf_op2;
fsm->change_new = EC_SLAVE_STATE_OP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@ -1347,20 +1361,20 @@ void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
Executes the change state machine, until the OP state is set.
*/
void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_op2(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
if (fsm->change_state == ec_fsm_change_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slaveconf_end;
return;
}
if (fsm->change_state != ec_fsm_change_end) return;
// slave is now in OP
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slaveconf_end; // successful
}
/*****************************************************************************/
@ -1370,12 +1384,12 @@ void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
End state of the slave state machine.
*/
void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_end(ec_fsm_t *fsm /**< finite state machine */)
{
}
/******************************************************************************
* SII state machine
* SII sub state machine
*****************************************************************************/
/**
@ -1592,7 +1606,7 @@ void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
}
/******************************************************************************
* state change state machine
* state change sub state machine
*****************************************************************************/
/**