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ethercat
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Better slave scan sub state machine.

This commit is contained in:
Florian Pose 2006-07-19 16:36:36 +00:00
parent bed60498c5
commit ad04403260
1 changed files with 21 additions and 20 deletions
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41
master/fsm.c
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@ -55,12 +55,12 @@ void ec_fsm_master_scan_slaves(ec_fsm_t *);
void ec_fsm_master_write_eeprom(ec_fsm_t *);
void ec_fsm_slavescan_start(ec_fsm_t *);
void ec_fsm_slavescan_address(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_slaveconf_init(ec_fsm_t *);
@ -765,16 +765,16 @@ void ec_fsm_slavescan_start(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_slavescan_state;
fsm->slave_state = ec_fsm_slavescan_address;
}
/*****************************************************************************/
/**
Slave state: READ_STATUS.
Slave state: ADDRESS.
*/
void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
@ -789,16 +789,16 @@ void ec_fsm_slavescan_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_slavescan_base;
fsm->slave_state = ec_fsm_slavescan_state;
}
/*****************************************************************************/
/**
Slave state: READ_BASE.
Slave state: STATE.
*/
void ec_fsm_slavescan_base(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;
ec_slave_t *slave = fsm->slave;
@ -821,16 +821,16 @@ void ec_fsm_slavescan_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_slavescan_datalink;
fsm->slave_state = ec_fsm_slavescan_base;
}
/*****************************************************************************/
/**
Slave state: READ_DL.
Slave state: BASE.
*/
void ec_fsm_slavescan_datalink(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;
@ -855,17 +855,16 @@ void ec_fsm_slavescan_datalink(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_slavescan_eeprom_size;
fsm->slave_state = ec_fsm_slavescan_datalink;
}
/*****************************************************************************/
/**
Slave state: EEPROM_SIZE.
Read the actual size of the EEPROM to allocate the EEPROM image.
Slave state: DATALINK.
*/
void ec_fsm_slavescan_eeprom_size(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;
@ -892,17 +891,17 @@ void ec_fsm_slavescan_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_slavescan_eeprom_data;
fsm->slave_state = ec_fsm_slavescan_eeprom_size;
fsm->slave_state(fsm); // execute state immediately
}
/*****************************************************************************/
/**
Slave state: FETCH_EEPROM.
Slave state: EEPROM_SIZE.
*/
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;
@ -952,17 +951,17 @@ void ec_fsm_slavescan_eeprom_data(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_slavescan_eeprom_data2;
fsm->slave_state = ec_fsm_slavescan_eeprom_data;
fsm->slave_state(fsm); // execute state immediately
}
/*****************************************************************************/
/**
Slave state: FETCH_EEPROM2.
Slave state: EEPROM_DATA.
*/
void ec_fsm_slavescan_eeprom_data2(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_word, cat_type, cat_size;
@ -1060,6 +1059,8 @@ void ec_fsm_slavescan_eeprom_data2(ec_fsm_t *fsm /**< finite state machine */)
cat_word += cat_size + 2;
}
fsm->slave_state = ec_fsm_slavescan_end;
end:
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slavescan_end;