Avoid duplicate reconfiguration.
This commit is contained in:
Florian Pose
parent
0af701c291
commit
be9e9fd07d
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@ -242,7 +242,7 @@ void ec_fsm_master_state_broadcast(
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if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
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EC_ERR("Failed to allocate %u bytes of slave memory!\n",
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size);
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master->slave_count = 0; // FIXME avoid scanning!
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master->slave_count = 0; // TODO avoid retrying scan!
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master->scan_busy = 0;
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wake_up_interruptible(&master->scan_queue);
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ec_fsm_master_restart(fsm);
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@ -526,10 +526,6 @@ void ec_fsm_master_action_configure(
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slave->force_config ? " (forced)" : "");
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}
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// configuration will be done immediately; therefore reset the
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// force flag
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slave->force_config = 0;
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fsm->idle = 0;
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fsm->state = ec_fsm_master_state_configure_slave;
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ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
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@ -31,10 +31,10 @@
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT slave configuration state machine.
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*/
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/** \file
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*
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* EtherCAT slave configuration state machine.
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*/
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/*****************************************************************************/
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@ -73,7 +73,8 @@ void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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/** Constructor.
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*/
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void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
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void ec_fsm_slave_config_init(
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ec_fsm_slave_config_t *fsm, /**< slave state machine */
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ec_datagram_t *datagram /**< datagram structure to use */
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)
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{
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@ -90,7 +91,9 @@ void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machi
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/** Destructor.
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*/
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void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_clear(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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// clear sub state machines
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ec_fsm_change_clear(&fsm->fsm_change);
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@ -101,11 +104,10 @@ void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machi
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/*****************************************************************************/
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/**
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* Start slave configuration state machine.
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/** Start slave configuration state machine.
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*/
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void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
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void ec_fsm_slave_config_start(
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ec_fsm_slave_config_t *fsm, /**< slave state machine */
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ec_slave_t *slave /**< slave to configure */
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)
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{
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@ -116,10 +118,11 @@ void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state mach
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/*****************************************************************************/
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/**
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\return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
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* \return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_running(
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const ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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return fsm->state != ec_fsm_slave_config_state_end
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&& fsm->state != ec_fsm_slave_config_state_error;
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@ -127,14 +130,16 @@ int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave stat
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/*****************************************************************************/
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/**
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Executes the current state of the state machine.
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If the state machine's datagram is not sent or received yet, the execution
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of the state machine is delayed to the next cycle.
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\return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Executes the current state of the state machine.
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*
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* If the state machine's datagram is not sent or received yet, the execution
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* of the state machine is delayed to the next cycle.
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*
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* \return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_exec(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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if (fsm->datagram->state == EC_DATAGRAM_SENT
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|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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@ -149,10 +154,11 @@ int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine
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/*****************************************************************************/
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/**
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\return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
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* \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_config_success(
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const ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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return fsm->state == ec_fsm_slave_config_state_end;
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}
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@ -161,15 +167,19 @@ int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave stat
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* Slave configuration state machine
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*****************************************************************************/
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/**
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Slave configuration state: START.
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*/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: START.
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*/
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void ec_fsm_slave_config_state_start(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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if (fsm->slave->master->debug_level) {
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EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
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}
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// configuration will be done immediately; therefore reset the
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// force flag
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fsm->slave->force_config = 0;
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ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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ec_fsm_change_exec(&fsm->fsm_change);
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@ -178,11 +188,11 @@ void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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Slave configuration state: INIT.
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*/
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: INIT.
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*/
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void ec_fsm_slave_config_state_init(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_master_t *master = fsm->slave->master;
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ec_slave_t *slave = fsm->slave;
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@ -201,10 +211,6 @@ void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state
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EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
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}
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// check and reset CRC fault counters
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//ec_slave_check_crc(slave);
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// TODO: Implement state machine for CRC checking.
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if (!slave->base_fmmu_count) { // skip FMMU configuration
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ec_fsm_slave_config_enter_mbox_sync(fsm);
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return;
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@ -224,12 +230,11 @@ void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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Slave configuration state: CLEAR FMMU.
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*/
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
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/**< slave state machine */)
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/** Slave configuration state: CLEAR FMMU.
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*/
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void ec_fsm_slave_config_state_clear_fmmus(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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@ -257,10 +262,8 @@ void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
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/*****************************************************************************/
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/**
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* Check for mailbox sync managers to be configured.
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/** Check for mailbox sync managers to be configured.
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*/
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void ec_fsm_slave_config_enter_mbox_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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@ -341,11 +344,11 @@ void ec_fsm_slave_config_enter_mbox_sync(
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/*****************************************************************************/
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/**
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Slave configuration state: SYNC.
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*/
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: SYNC.
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*/
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void ec_fsm_slave_config_state_mbox_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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ec_slave_t *slave = fsm->slave;
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@ -375,11 +378,11 @@ void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave s
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/*****************************************************************************/
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/**
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* Request PREOP state.
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/** Request PREOP state.
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*/
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void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_enter_preop(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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fsm->state = ec_fsm_slave_config_state_preop;
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ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
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@ -388,11 +391,11 @@ void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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Slave configuration state: PREOP.
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*/
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void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: PREOP.
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*/
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void ec_fsm_slave_config_state_preop(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_slave_t *slave = fsm->slave;
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ec_master_t *master = fsm->slave->master;
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@ -433,11 +436,11 @@ void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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* Check for Sdo configurations to be applied.
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/** Check for Sdo configurations to be applied.
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*/
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_enter_sdo_conf(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_slave_t *slave = fsm->slave;
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@ -458,10 +461,8 @@ void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave st
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/*****************************************************************************/
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/**
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Slave configuration state: SDO_CONF.
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*/
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/** Slave configuration state: SDO_CONF.
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*/
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void ec_fsm_slave_config_state_sdo_conf(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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@ -492,10 +493,8 @@ void ec_fsm_slave_config_state_sdo_conf(
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/*****************************************************************************/
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/**
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* Check for Pdo sync managers to be configured.
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/** Check for Pdo sync managers to be configured.
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*/
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void ec_fsm_slave_config_enter_pdo_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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@ -543,11 +542,11 @@ void ec_fsm_slave_config_enter_pdo_sync(
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/*****************************************************************************/
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/**
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* Configure Pdo sync managers.
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/** Configure Pdo sync managers.
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*/
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_state_pdo_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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ec_slave_t *slave = fsm->slave;
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@ -580,10 +579,8 @@ void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave st
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/*****************************************************************************/
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/**
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Slave configuration state: PDO_MAPPING.
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*/
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/** Slave configuration state: PDO_MAPPING.
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*/
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void ec_fsm_slave_config_state_pdo_mapping(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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@ -606,10 +603,8 @@ void ec_fsm_slave_config_state_pdo_mapping(
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/*****************************************************************************/
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/**
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Slave configuration state: PDO_ASSIGN.
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*/
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/** Slave configuration state: PDO_ASSIGN.
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*/
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void ec_fsm_slave_config_state_pdo_assign(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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@ -629,11 +624,11 @@ void ec_fsm_slave_config_state_pdo_assign(
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/*****************************************************************************/
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/**
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* Check for FMMUs to be configured.
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/** Check for FMMUs to be configured.
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*/
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_enter_fmmu(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_slave_t *slave = fsm->slave;
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ec_datagram_t *datagram = fsm->datagram;
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@ -678,11 +673,11 @@ void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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Slave configuration state: FMMU.
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*/
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: FMMU.
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*/
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void ec_fsm_slave_config_state_fmmu(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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ec_slave_t *slave = fsm->slave;
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@ -712,11 +707,11 @@ void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state
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/*****************************************************************************/
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/**
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* Request SAFEOP state.
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/** Request SAFEOP state.
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*/
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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void ec_fsm_slave_config_enter_safeop(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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fsm->state = ec_fsm_slave_config_state_safeop;
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ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
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@ -725,11 +720,11 @@ void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave stat
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/*****************************************************************************/
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/**
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Slave configuration state: SAFEOP.
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*/
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: SAFEOP.
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*/
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void ec_fsm_slave_config_state_safeop(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_master_t *master = fsm->slave->master;
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ec_slave_t *slave = fsm->slave;
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@ -766,11 +761,11 @@ void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave stat
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/*****************************************************************************/
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/**
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Slave configuration state: OP
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*/
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** Slave configuration state: OP
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*/
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void ec_fsm_slave_config_state_op(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_master_t *master = fsm->slave->master;
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ec_slave_t *slave = fsm->slave;
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@ -798,21 +793,21 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state ma
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* Common state functions
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*****************************************************************************/
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/**
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State: ERROR.
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*/
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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/** State: ERROR.
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*/
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void ec_fsm_slave_config_state_error(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
|
||||
{
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**
|
||||
State: END.
|
||||
*/
|
||||
|
||||
void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *fsm /**< slave state machine */)
|
||||
/** State: END.
|
||||
*/
|
||||
void ec_fsm_slave_config_state_end(
|
||||
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue