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Minor changes in fsm.c and slave.c

This commit is contained in:
Florian Pose 2006-06-27 20:24:32 +00:00
parent 682c27d1d8
commit 4a72709aa1
2 changed files with 95 additions and 92 deletions
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160
master/fsm.c
View File

@ -57,7 +57,7 @@ void ec_fsm_master_conf(ec_fsm_t *);
void ec_fsm_master_eeprom(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
void ec_fsm_slave_read_status(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 *);
@ -99,7 +99,7 @@ void ec_fsm_change_error(ec_fsm_t *);
int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
ec_master_t *master /**< EtherCAT master */
)
)
{
fsm->master = master;
fsm->master_state = ec_fsm_master_start;
@ -109,7 +109,7 @@ int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
ec_command_init(&fsm->command);
if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {
EC_ERR("FSM failed to allocate FSM command.\n");
EC_ERR("Failed to allocate FSM command.\n");
return -1;
}
@ -290,36 +290,35 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
ec_slave_t *slave = fsm->slave;
// have all states been read?
if (slave->list.next == &master->slaves) {
// check, if a bus validation has to be done
if (fsm->master_validation) {
fsm->master_validation = 0;
list_for_each_entry(slave, &master->slaves, list) {
if (slave->online) continue;
// At least one slave is offline. validate!
EC_INFO("Validating bus.\n");
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_validate_vendor;
fsm->sii_offset = 0x0008; // vendor ID
fsm->sii_mode = 0;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->sii_state(fsm); // execute immediately
return;
}
}
fsm->master_state = ec_fsm_master_proc_states;
fsm->master_state(fsm); // execute immediately
if (slave->list.next != &master->slaves) {
// process next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_command(master, &fsm->command);
fsm->master_state = ec_fsm_master_states;
return;
}
// process next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_command(master, &fsm->command);
fsm->master_state = ec_fsm_master_states;
// all slave stated read; check, if a bus validation has to be done
if (fsm->master_validation) {
fsm->master_validation = 0;
list_for_each_entry(slave, &master->slaves, list) {
if (slave->online) continue;
// At least one slave is offline. validate!
EC_INFO("Validating bus.\n");
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_validate_vendor;
fsm->sii_offset = 0x0008; // vendor ID
fsm->sii_mode = 0;
fsm->sii_state = ec_fsm_sii_start_reading;
fsm->sii_state(fsm); // execute immediately
return;
}
}
fsm->master_state = ec_fsm_master_proc_states;
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
@ -412,6 +411,14 @@ void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->new_eeprom_data) continue;
if (!slave->online || slave->error_flag) {
kfree(slave->new_eeprom_data);
slave->new_eeprom_data = NULL;
EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
slave->ring_position);
continue;
}
// found pending EEPROM write operation. execute it!
EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fsm->sii_offset = 0x0000;
@ -444,7 +451,7 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_state(fsm); // execute SII state machine
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave->error_flag = 1;
EC_ERR("Failed to validate vendor ID of slave %i.\n",
slave->ring_position);
fsm->master_state = ec_fsm_master_start;
@ -483,7 +490,7 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_state(fsm); // execute SII state machine
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave->error_flag = 1;
EC_ERR("Failed to validate product code of slave %i.\n",
slave->ring_position);
fsm->master_state = ec_fsm_master_start;
@ -622,7 +629,7 @@ void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
}
if (!slave->type) {
EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"
EC_WARN("Unknown slave device (vendor 0x%08X,"
" code 0x%08X) at position %i.\n",
slave->sii_vendor_id, slave->sii_product_code,
slave->ring_position);
@ -640,8 +647,8 @@ void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
// determine initial state.
if ((slave->type &&
(slave->type->special == EC_TYPE_BUS_COUPLER ||
slave->type->special == EC_TYPE_INFRA))) {
(slave->type->special == EC_TYPE_BUS_COUPLER ||
slave->type->special == EC_TYPE_INFRA))) {
slave->requested_state = EC_SLAVE_STATE_OP;
}
else {
@ -702,7 +709,7 @@ void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_state(fsm); // execute SII state machine
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave->error_flag = 1;
EC_ERR("Failed to write EEPROM contents to slave %i.\n",
slave->ring_position);
kfree(slave->new_eeprom_data);
@ -751,7 +758,7 @@ void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
EC_WRITE_U16(command->data, fsm->slave->station_address);
ec_master_queue_command(fsm->master, command);
fsm->slave_state = ec_fsm_slave_read_status;
fsm->slave_state = ec_fsm_slave_read_state;
}
/*****************************************************************************/
@ -760,18 +767,19 @@ void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
Slave state: READ_STATUS.
*/
void ec_fsm_slave_read_status(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slave_read_state(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("FSM failed to write station address of slave %i.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to write station address of slave %i.\n",
fsm->slave->ring_position);
return;
}
// read AL status
// Read AL state
ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_command(fsm->master, command);
fsm->slave_state = ec_fsm_slave_read_base;
@ -790,15 +798,15 @@ void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fsm->slave->error_flag = 1;
EC_ERR("FSM failed to read AL status of slave %i.\n",
fsm->slave->ring_position);
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to read AL state of slave %i.\n",
fsm->slave->ring_position);
return;
}
slave->current_state = EC_READ_U8(command->data);
if (slave->current_state & EC_ACK) {
EC_WARN("Slave %i has status error bit set (0x%02X)!\n",
EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
slave->ring_position, slave->current_state);
slave->current_state &= 0x0F;
}
@ -822,9 +830,9 @@ void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fsm->slave->error_flag = 1;
EC_ERR("FSM failed to read base data of slave %i.\n",
slave->ring_position);
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to read base data of slave %i.\n",
slave->ring_position);
return;
}
@ -859,9 +867,9 @@ void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fsm->slave->error_flag = 1;
EC_ERR("FSM failed to read DL status of slave %i.\n",
slave->ring_position);
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to read DL status of slave %i.\n",
slave->ring_position);
return;
}
@ -896,7 +904,7 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_state(fsm);
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to read EEPROM size of slave %i.\n",
slave->ring_position);
@ -926,9 +934,9 @@ 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;
EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
slave->ring_position);
fsm->slave_state = ec_fsm_slave_end;
return;
}
@ -956,7 +964,7 @@ void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
fsm->sii_state(fsm);
if (fsm->sii_state == ec_fsm_sii_error) {
fsm->slave->error_flag = 1;
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
slave->ring_position);
@ -1045,7 +1053,7 @@ void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
cat_word += cat_size + 2;
}
end:
end:
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
}
@ -1065,7 +1073,7 @@ void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
fsm->change_state(fsm); // execute state change state machine
if (fsm->change_state == ec_fsm_change_error) {
slave->error_flag = 1;
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@ -1074,7 +1082,7 @@ 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;
fsm->slave_state = ec_fsm_slave_end; // successful
return;
}
@ -1116,10 +1124,10 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("Failed to reset FMMUs of slave %i.\n",
slave->ring_position);
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to reset FMMUs of slave %i.\n",
slave->ring_position);
return;
}
@ -1149,9 +1157,9 @@ void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
if (eeprom_sync->index >= slave->base_sync_count) {
EC_ERR("Invalid sync manager configuration found!");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Invalid sync manager configuration found!");
return;
}
ec_eeprom_sync_config(eeprom_sync,
@ -1199,10 +1207,10 @@ void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("Failed to set sync managers on slave %i.\n",
slave->ring_position);
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to set sync managers on slave %i.\n",
slave->ring_position);
return;
}
@ -1229,7 +1237,7 @@ void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
fsm->change_state(fsm); // execute state change state machine
if (fsm->change_state == ec_fsm_change_error) {
slave->error_flag = 1;
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@ -1238,13 +1246,13 @@ 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;
fsm->slave_state = ec_fsm_slave_end; // successful
return;
}
// stop activation here for slaves without type
if (!slave->type) {
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slave_end; // successful
return;
}
@ -1280,10 +1288,10 @@ void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->slave->base_fmmu_count && (command->state != EC_CMD_RECEIVED ||
command->working_counter != 1)) {
EC_ERR("FSM failed to set FMMUs on slave %i.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
EC_ERR("Failed to set FMMUs on slave %i.\n",
fsm->slave->ring_position);
return;
}
@ -1306,7 +1314,7 @@ void ec_fsm_slave_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->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@ -1315,7 +1323,7 @@ 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;
fsm->slave_state = ec_fsm_slave_end; // successful
return;
}
@ -1338,7 +1346,7 @@ void ec_fsm_slave_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->error_flag = 1;
fsm->slave_state = ec_fsm_slave_end;
return;
}
@ -1346,7 +1354,7 @@ void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->change_state != ec_fsm_change_end) return;
// slave is now in OP
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slave_end; // successful
}
/*****************************************************************************/
@ -1609,16 +1617,16 @@ void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED) {
fsm->change_state = ec_fsm_change_error;
EC_ERR("Failed to send state command to slave %i!\n",
fsm->slave->ring_position);
fsm->change_state = ec_fsm_change_error;
return;
}
if (command->working_counter != 1) {
fsm->change_state = ec_fsm_change_error;
EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
" respond.\n", fsm->change_new, fsm->slave->ring_position);
fsm->change_state = ec_fsm_change_error;
return;
}
@ -1642,9 +1650,9 @@ void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fsm->change_state = ec_fsm_change_error;
EC_ERR("Failed to check state 0x%02X on slave %i.\n",
fsm->change_new, slave->ring_position);
fsm->change_state = ec_fsm_change_error;
return;
}
@ -1722,8 +1730,8 @@ void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
const ec_code_msg_t *al_msg;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("Reception of AL status code command failed.\n");
fsm->change_state = ec_fsm_change_error;
EC_ERR("Reception of AL status code command failed.\n");
return;
}
@ -1757,8 +1765,8 @@ void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("Reception of state ack command failed.\n");
fsm->change_state = ec_fsm_change_error;
EC_ERR("Reception of state ack command failed.\n");
return;
}
@ -1781,23 +1789,23 @@ void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("Reception of state ack check command failed.\n");
fsm->change_state = ec_fsm_change_error;
EC_ERR("Reception of state ack check command failed.\n");
return;
}
slave->current_state = EC_READ_U8(command->data);
if (slave->current_state == fsm->change_new) {
fsm->change_state = ec_fsm_change_error;
EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
slave->current_state, slave->ring_position);
fsm->change_state = ec_fsm_change_error;
return;
}
fsm->change_state = ec_fsm_change_error;
EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
" - Timeout!\n", fsm->change_new, slave->ring_position);
fsm->change_state = ec_fsm_change_error;
}
/*****************************************************************************/

27
master/slave.c
View File

@ -1422,28 +1422,23 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
if (attr == &attr_state) {
if (!strcmp(buffer, "INIT\n")) {
if (!strcmp(buffer, "INIT\n"))
slave->requested_state = EC_SLAVE_STATE_INIT;
slave->error_flag = 0;
return size;
}
else if (!strcmp(buffer, "PREOP\n")) {
else if (!strcmp(buffer, "PREOP\n"))
slave->requested_state = EC_SLAVE_STATE_PREOP;
slave->error_flag = 0;
return size;
}
else if (!strcmp(buffer, "SAVEOP\n")) {
else if (!strcmp(buffer, "SAVEOP\n"))
slave->requested_state = EC_SLAVE_STATE_SAVEOP;
slave->error_flag = 0;
return size;
}
else if (!strcmp(buffer, "OP\n")) {
else if (!strcmp(buffer, "OP\n"))
slave->requested_state = EC_SLAVE_STATE_OP;
slave->error_flag = 0;
return size;
else {
EC_ERR("Invalid slave state \"%s\"!\n", buffer);
return -EINVAL;
}
EC_ERR("Failed to set slave state!\n");
EC_INFO("Accepted new state %s for slave %i.\n",
buffer, slave->ring_position);
slave->error_flag = 0;
return size;
}
else if (attr == &attr_eeprom) {
if (!ec_slave_write_eeprom(slave, buffer, size))