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New state in slaveconf FSM: Clear FMMU configurations after INIT.

This commit is contained in:
Florian Pose 2006-10-27 14:41:09 +00:00
parent 1f44556083
commit ab80d57c03
3 changed files with 164 additions and 89 deletions
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231
master/fsm.c
View File

@ -68,17 +68,23 @@ 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 *);
void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
void ec_fsm_slaveconf_state_start(ec_fsm_t *);
void ec_fsm_slaveconf_state_init(ec_fsm_t *);
void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_state_op(ec_fsm_t *);
void ec_fsm_slave_end(ec_fsm_t *);
void ec_fsm_slave_error(ec_fsm_t *);
void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
void ec_fsm_slave_state_end(ec_fsm_t *);
void ec_fsm_slave_state_error(ec_fsm_t *);
/*****************************************************************************/
@ -332,7 +338,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
fsm->master_state = ec_fsm_master_configure_slave;
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->slave_state = ec_fsm_slaveconf_state_start;
fsm->slave_state(fsm); // execute immediately
return;
}
@ -713,8 +719,8 @@ 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
&& fsm->slave_state != ec_fsm_slave_error) return;
if (fsm->slave_state != ec_fsm_slave_state_end
&& fsm->slave_state != ec_fsm_slave_state_error) return;
// another slave to fetch?
if (slave->list.next != &master->slaves) {
@ -750,8 +756,8 @@ 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
&& fsm->slave_state != ec_fsm_slave_error) return;
if (fsm->slave_state != ec_fsm_slave_state_end
&& fsm->slave_state != ec_fsm_slave_state_error) return;
ec_fsm_master_action_process_states(fsm);
}
@ -917,7 +923,7 @@ void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to write station address of slave %i.\n",
fsm->slave->ring_position);
return;
@ -943,7 +949,7 @@ void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to read AL state of slave %i.\n",
fsm->slave->ring_position);
return;
@ -977,7 +983,7 @@ void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to read base data of slave %i.\n",
slave->ring_position);
return;
@ -1014,7 +1020,7 @@ void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to read DL status of slave %i.\n",
slave->ring_position);
return;
@ -1050,7 +1056,7 @@ void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to read EEPROM size of slave %i.\n",
slave->ring_position);
return;
@ -1078,7 +1084,7 @@ void ec_fsm_slavescan_eeprom_size(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_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
slave->ring_position);
return;
@ -1107,7 +1113,7 @@ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
slave->ring_position);
return;
@ -1196,13 +1202,13 @@ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
cat_word += cat_size + 2;
}
fsm->slave_state = ec_fsm_slave_end;
fsm->slave_state = ec_fsm_slave_state_end;
return;
end:
EC_ERR("Failed to analyze category data.\n");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
}
/******************************************************************************
@ -1213,7 +1219,7 @@ end:
Slave configuration state: START.
*/
void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_start(ec_fsm_t *fsm /**< finite state machine */)
{
if (fsm->master->debug_level) {
EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
@ -1221,7 +1227,7 @@ void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
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;
fsm->slave_state = ec_fsm_slaveconf_state_init;
}
/*****************************************************************************/
@ -1230,19 +1236,17 @@ void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: INIT.
*/
void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
const ec_sii_sync_t *sync;
ec_sii_sync_t mbox_sync;
if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
@ -1252,9 +1256,66 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
}
// check and reset CRC fault counters
//ec_slave_check_crc(slave);
// TODO: Implement state machine for CRC checking.
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slaveconf_enter_sync(fsm);
return;
}
if (master->debug_level)
EC_DBG("Clearing FMMU configurations of slave %i...\n",
slave->ring_position);
// clear FMMU configurations
ec_datagram_npwr(datagram, slave->station_address,
0x0600, 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_slaveconf_state_clear_fmmus;
}
/*****************************************************************************/
/**
Slave configuration state: CLEAR FMMU.
*/
void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *fsm
/**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to clear FMMUs on slave %i.\n",
fsm->slave->ring_position);
return;
}
ec_fsm_slaveconf_enter_sync(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
const ec_sii_sync_t *sync;
ec_sii_sync_t mbox_sync;
// 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_slave_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
slave->ring_position);
@ -1262,14 +1323,8 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
return;
}
// check and reset CRC fault counters
//ec_slave_check_crc(slave);
// TODO: Implement state machine for CRC checking.
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slaveconf_preop;
ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
ec_fsm_slaveconf_enter_preop(fsm);
return;
}
@ -1311,7 +1366,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
if (sync->index >= slave->base_sync_count) {
EC_ERR("Invalid sync manager configuration found!");
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
ec_sync_config(sync, slave,
@ -1320,7 +1375,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slaveconf_sync;
fsm->slave_state = ec_fsm_slaveconf_state_sync;
}
/*****************************************************************************/
@ -1329,7 +1384,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: SYNC.
*/
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -1337,14 +1392,24 @@ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to set sync managers on slave %i.\n",
slave->ring_position);
return;
}
fsm->slave_state = ec_fsm_slaveconf_preop;
ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
ec_fsm_slaveconf_enter_preop(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_preop(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->slave_state = ec_fsm_slaveconf_state_preop;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
@ -1354,7 +1419,7 @@ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: PREOP.
*/
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@ -1365,7 +1430,7 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
@ -1377,7 +1442,7 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
}
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slave_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
slave->ring_position);
@ -1387,18 +1452,11 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fsm->slave_state = ec_fsm_slaveconf_saveop;
ec_fsm_change_start(&fsm->fsm_change, slave,
EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
ec_fsm_slaveconf_enter_saveop(fsm);
return;
}
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ec_fsm_slaveconf_enter_sdoconf(fsm);
return;
}
@ -1412,7 +1470,7 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slaveconf_fmmu;
fsm->slave_state = ec_fsm_slaveconf_state_fmmu;
}
/*****************************************************************************/
@ -1421,7 +1479,7 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: FMMU.
*/
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -1429,7 +1487,7 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
EC_ERR("Failed to set FMMUs on slave %i.\n",
fsm->slave->ring_position);
return;
@ -1437,17 +1495,24 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
// No CoE configuration to be applied? Jump to SAVEOP state.
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
ec_fsm_slaveconf_enter_saveop(fsm);
return;
}
ec_fsm_slaveconf_enter_sdoconf(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
{
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
}
@ -1457,13 +1522,13 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: SDOCONF.
*/
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
{
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
@ -1479,7 +1544,17 @@ void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
// All SDOs are now configured.
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
ec_fsm_slaveconf_enter_saveop(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->slave_state = ec_fsm_slaveconf_state_saveop;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
@ -1490,7 +1565,7 @@ void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: SAVEOP.
*/
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
@ -1499,7 +1574,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
if (!ec_fsm_change_success(&fsm->fsm_change)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
@ -1510,7 +1585,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
}
if (fsm->slave->current_state == fsm->slave->requested_state) {
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slave_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
slave->ring_position);
@ -1519,7 +1594,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
}
// set state to OP
fsm->slave_state = ec_fsm_slaveconf_op;
fsm->slave_state = ec_fsm_slaveconf_state_op;
ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
@ -1530,7 +1605,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
Slave configuration state: OP
*/
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_state_op(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
@ -1539,7 +1614,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slave_error;
fsm->slave_state = ec_fsm_slave_state_error;
return;
}
@ -1550,7 +1625,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
}
fsm->slave_state = ec_fsm_slave_end; // successful
fsm->slave_state = ec_fsm_slave_state_end; // successful
}
/******************************************************************************
@ -1561,7 +1636,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
State: ERROR.
*/
void ec_fsm_slave_error(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slave_state_error(ec_fsm_t *fsm /**< finite state machine */)
{
}
@ -1571,7 +1646,7 @@ void ec_fsm_slave_error(ec_fsm_t *fsm /**< finite state machine */)
State: END.
*/
void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slave_state_end(ec_fsm_t *fsm /**< finite state machine */)
{
}

8
master/fsm.h
View File

@ -89,10 +89,10 @@ 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 *);
// TODO: layout slave state machines
void ec_fsm_slaveconf_state_start(ec_fsm_t *);
void ec_fsm_slave_state_end(ec_fsm_t *);
void ec_fsm_slave_state_error(ec_fsm_t *);
/*****************************************************************************/

14
master/master.c
View File

@ -436,14 +436,14 @@ void ec_master_leave_operation_mode(ec_master_t *master
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->slave_state = ec_fsm_slaveconf_state_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);
while (fsm->slave_state != ec_fsm_slave_state_end
&& fsm->slave_state != ec_fsm_slave_state_error);
}
ec_master_destroy_domains(master);
@ -1333,16 +1333,16 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
// configure all slaves
list_for_each_entry(slave, &master->slaves, list) {
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->slave_state = ec_fsm_slaveconf_state_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);
while (fsm->slave_state != ec_fsm_slave_state_end
&& fsm->slave_state != ec_fsm_slave_state_error);
if (fsm->slave_state == ec_fsm_slave_error) {
if (fsm->slave_state == ec_fsm_slave_state_error) {
EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
return -1;
}