bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Better slaveconf sub state machine.

This commit is contained in:
Florian Pose 2006-07-19 16:18:51 +00:00
parent 3da6964ed6
commit bed60498c5
1 changed files with 30 additions and 67 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

97
master/fsm.c
View File

@ -63,13 +63,12 @@ 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_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_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
void ec_fsm_slaveconf_op2(ec_fsm_t *);
void ec_fsm_slaveconf_end(ec_fsm_t *);
void ec_fsm_sii_start_reading(ec_fsm_t *);
@ -304,7 +303,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
printk(".\n");
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_start;
fsm->slave_state = ec_fsm_slaveconf_init;
fsm->change_new = EC_SLAVE_STATE_INIT;
fsm->change_state = ec_fsm_change_start;
fsm->master_state = ec_fsm_master_configure_slave;
@ -1082,14 +1081,16 @@ void ec_fsm_slavescan_end(ec_fsm_t *fsm /**< finite state machine */)
*****************************************************************************/
/**
Slave state: CONF.
Slave state: INIT.
*/
void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
const ec_sync_t *sync;
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
unsigned int j;
fsm->change_state(fsm); // execute state change state machine
@ -1114,47 +1115,13 @@ void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
// check and reset CRC fault counters
//ec_slave_check_crc(slave);
if (!slave->base_fmmu_count) { // no fmmus
fsm->slave_state = ec_fsm_slaveconf_sync;
fsm->slave_state(fsm); // execute immediately
return;
}
// reset FMMUs
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_sync;
}
/*****************************************************************************/
/**
Slave state: SYNC.
Configure sync managers.
*/
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
unsigned int j;
const ec_sync_t *sync;
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to reset FMMUs of slave %i.\n",
slave->ring_position);
return;
}
// TODO!
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slaveconf_preop;
fsm->slave_state(fsm); // execute immediately
fsm->change_new = EC_SLAVE_STATE_PREOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
return;
}
@ -1211,17 +1178,16 @@ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(fsm->master, datagram);
fsm->slave_state = ec_fsm_slaveconf_preop;
fsm->slave_state = ec_fsm_slaveconf_sync;
}
/*****************************************************************************/
/**
Slave state: PREOP.
Change slave state to PREOP.
Slave state: SYNC.
*/
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -1234,20 +1200,19 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
return;
}
fsm->slave_state = ec_fsm_slaveconf_preop;
fsm->change_new = EC_SLAVE_STATE_PREOP;
fsm->change_state = ec_fsm_change_start;
fsm->slave_state = ec_fsm_slaveconf_fmmu;
fsm->change_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Slave state: FMMU.
Configure FMMUs.
Slave state: PREOP.
*/
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@ -1278,7 +1243,9 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
if (!slave->base_fmmu_count) {
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->slave_state(fsm); // execute immediately
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
return;
}
@ -1292,22 +1259,20 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->slave_state = ec_fsm_slaveconf_fmmu;
}
/*****************************************************************************/
/**
Slave state: SAVEOP.
Set slave state to SAVEOP.
Slave state: FMMU.
*/
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
if (fsm->slave->base_fmmu_count && (datagram->state != EC_CMD_RECEIVED ||
datagram->working_counter != 1)) {
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to set FMMUs on slave %i.\n",
@ -1316,7 +1281,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
}
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_op;
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@ -1325,11 +1290,10 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
Slave state: OP.
Set slave state to OP.
Slave state: SAVEOP.
*/
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
@ -1348,7 +1312,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
}
// set state to OP
fsm->slave_state = ec_fsm_slaveconf_op2;
fsm->slave_state = ec_fsm_slaveconf_op;
fsm->change_new = EC_SLAVE_STATE_OP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@ -1357,11 +1321,10 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
Slave state: OP2
Executes the change state machine, until the OP state is set.
Slave state: OP
*/
void ec_fsm_slaveconf_op2(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine