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ethercat
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Correct behaviour of master state machine in RT mode.

This commit is contained in:
Florian Pose 2006-05-26 14:26:57 +00:00
parent a1850ae9c3
commit 7b3672d62b
4 changed files with 588 additions and 233 deletions
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797
master/fsm.c
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File diff suppressed because it is too large Load Diff

4
master/fsm.h
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@ -64,6 +64,7 @@ struct ec_fsm
void (*master_state)(ec_fsm_t *); /**< master state function */
unsigned int master_slaves_responding; /**< number of responding slaves */
ec_slave_state_t master_slave_states; /**< states of responding slaves */
unsigned int master_validation; /**< non-zero, if validation to do */
void (*slave_state)(ec_fsm_t *); /**< slave state function */
uint8_t slave_sii_num; /**< SII value iteration counter */
@ -75,10 +76,13 @@ struct ec_fsm
void (*sii_state)(ec_fsm_t *); /**< SII state function */
uint16_t sii_offset; /**< input: offset in SII */
unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
uint32_t sii_result; /**< output: read SII value (32bit) */
cycles_t sii_start; /**< sii start */
void (*change_state)(ec_fsm_t *); /**< slave state change state function */
uint8_t change_new; /**< input: new state */
cycles_t change_start; /**< change start */
};
/*****************************************************************************/

19
master/slave.c
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@ -151,6 +151,7 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->state_error = 0;
slave->online = 1;
ec_command_init(&slave->mbox_command);
@ -839,6 +840,7 @@ void ec_slave_state_ack(ec_slave_t *slave, /**< EtherCAT slave */
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
if (unlikely(ec_master_simple_io(slave->master, command))) {
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_WARN("Acknowledge checking failed on slave %i!\n",
slave->ring_position);
return;
@ -847,12 +849,14 @@ void ec_slave_state_ack(ec_slave_t *slave, /**< EtherCAT slave */
end = get_cycles();
if (likely(EC_READ_U8(command->data) == state)) {
slave->current_state = state;
EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
slave->ring_position);
return;
}
if (unlikely((end - start) >= timeout)) {
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
" - Timeout!\n", state, slave->ring_position);
return;
@ -912,6 +916,8 @@ int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
command = &slave->master->simple_command;
slave->requested_state = state;
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
if (unlikely(ec_master_simple_io(slave->master, command))) {
@ -930,6 +936,7 @@ int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_ERR("Failed to check state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
@ -941,16 +948,20 @@ int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
" (code 0x%02X)!\n", state, slave->ring_position,
EC_READ_U8(command->data));
state = EC_READ_U8(command->data) & 0x0F;
slave->current_state = EC_READ_U8(command->data);
state = slave->current_state & 0x0F;
ec_slave_read_al_status_code(slave);
ec_slave_state_ack(slave, state);
return -1;
}
if (likely(EC_READ_U8(command->data) == (state & 0x0F)))
if (likely(EC_READ_U8(command->data) == (state & 0x0F))) {
slave->current_state = state;
return 0; // state change successful
}
if (unlikely((end - start) >= timeout)) {
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
state, slave->ring_position);
return -1;
@ -1300,18 +1311,22 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
if (attr == &attr_state) {
if (!strcmp(buffer, "INIT\n")) {
slave->requested_state = EC_SLAVE_STATE_INIT;
slave->state_error = 0;
return size;
}
else if (!strcmp(buffer, "PREOP\n")) {
slave->requested_state = EC_SLAVE_STATE_PREOP;
slave->state_error = 0;
return size;
}
else if (!strcmp(buffer, "SAVEOP\n")) {
slave->requested_state = EC_SLAVE_STATE_SAVEOP;
slave->state_error = 0;
return size;
}
else if (!strcmp(buffer, "OP\n")) {
slave->requested_state = EC_SLAVE_STATE_OP;
slave->state_error = 0;
return size;
}

1
master/slave.h
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@ -276,6 +276,7 @@ struct ec_slave
ec_slave_state_t requested_state; /**< requested slave state */
ec_slave_state_t current_state; /**< current slave state */
unsigned int state_error; /**< a state error has happened */
unsigned int online; /**< non-zero, if the slave responds. */
};
/*****************************************************************************/