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Better master state machines.

This commit is contained in:
Florian Pose 2006-07-19 12:57:41 +00:00
parent 3ead0fc0b3
commit c0a73f9615
1 changed files with 127 additions and 121 deletions
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248
master/fsm.c
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@ -46,15 +46,13 @@
void ec_fsm_master_start(ec_fsm_t *);
void ec_fsm_master_broadcast(ec_fsm_t *);
void ec_fsm_master_proc_states(ec_fsm_t *);
void ec_fsm_master_scan(ec_fsm_t *);
void ec_fsm_master_states(ec_fsm_t *);
void ec_fsm_master_read_states(ec_fsm_t *);
void ec_fsm_master_validate_vendor(ec_fsm_t *);
void ec_fsm_master_validate_product(ec_fsm_t *);
void ec_fsm_master_reconfigure(ec_fsm_t *);
void ec_fsm_master_address(ec_fsm_t *);
void ec_fsm_master_conf(ec_fsm_t *);
void ec_fsm_master_eeprom(ec_fsm_t *);
void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
void ec_fsm_master_configure_slave(ec_fsm_t *);
void ec_fsm_master_scan_slaves(ec_fsm_t *);
void ec_fsm_master_write_eeprom(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
void ec_fsm_slave_read_state(ec_fsm_t *);
@ -265,7 +263,7 @@ void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slave_start_reading;
fsm->master_state = ec_fsm_master_scan;
fsm->master_state = ec_fsm_master_scan_slaves;
fsm->master_state(fsm); // execute immediately
return;
}
@ -274,7 +272,74 @@ void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_datagram(master, &fsm->datagram);
fsm->master_state = ec_fsm_master_states;
fsm->master_state = ec_fsm_master_read_states;
}
/*****************************************************************************/
/**
Master action: PROC_STATES.
Processes the slave states.
*/
void ec_fsm_master_action_process_states(ec_fsm_t *fsm
/**< finite state machine */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag ||
!slave->online ||
slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
slave->current_state == slave->requested_state) continue;
EC_INFO("Changing state of slave %i from ", slave->ring_position);
ec_print_states(slave->current_state);
printk(" to ");
ec_print_states(slave->requested_state);
printk(".\n");
fsm->slave = slave;
fsm->slave_state = ec_fsm_slave_conf;
fsm->change_new = EC_SLAVE_STATE_INIT;
fsm->change_state = ec_fsm_change_start;
fsm->master_state = ec_fsm_master_configure_slave;
fsm->master_state(fsm); // execute immediately
return;
}
if (master->mode == EC_MASTER_MODE_FREERUN) {
// nothing to configure. check for pending EEPROM write operations.
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->new_eeprom_data) continue;
if (!slave->online || slave->error_flag) {
kfree(slave->new_eeprom_data);
slave->new_eeprom_data = NULL;
EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
slave->ring_position);
continue;
}
// found pending EEPROM write operation. execute it!
EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fsm->sii_offset = 0x0000;
memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_writing;
fsm->slave = slave;
fsm->master_state = ec_fsm_master_write_eeprom;
fsm->master_state(fsm); // execute immediately
return;
}
}
// nothing to do. restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
@ -289,18 +354,20 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
// have all states been read?
// is there another slave to query?
if (slave->list.next != &master->slaves) {
// process next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
0x0130, 2);
ec_master_queue_datagram(master, &fsm->datagram);
fsm->master_state = ec_fsm_master_states;
fsm->master_state = ec_fsm_master_read_states;
return;
}
// all slave stated read; check, if a bus validation has to be done
// all slave states read
// check, if a bus validation has to be done
if (fsm->master_validation) {
fsm->master_validation = 0;
list_for_each_entry(slave, &master->slaves, list) {
@ -318,8 +385,7 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
}
}
fsm->master_state = ec_fsm_master_proc_states;
fsm->master_state(fsm); // execute immediately
ec_fsm_master_action_process_states(fsm);
}
/*****************************************************************************/
@ -329,7 +395,7 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
Fetches the AL- and online state of a slave.
*/
void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
@ -375,71 +441,6 @@ void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
Master state: PROC_STATES.
Processes the slave states.
*/
void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
if (slave->error_flag ||
!slave->online ||
slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
slave->current_state == slave->requested_state) continue;
EC_INFO("Changing state of slave %i from ", slave->ring_position);
ec_print_states(slave->current_state);
printk(" to ");
ec_print_states(slave->requested_state);
printk(".\n");
fsm->slave = slave;
fsm->slave_state = ec_fsm_slave_conf;
fsm->change_new = EC_SLAVE_STATE_INIT;
fsm->change_state = ec_fsm_change_start;
fsm->master_state = ec_fsm_master_conf;
fsm->master_state(fsm); // execute immediately
return;
}
if (master->mode == EC_MASTER_MODE_FREERUN) {
// nothing to configure. check for pending EEPROM write operations.
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->new_eeprom_data) continue;
if (!slave->online || slave->error_flag) {
kfree(slave->new_eeprom_data);
slave->new_eeprom_data = NULL;
EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
slave->ring_position);
continue;
}
// found pending EEPROM write operation. execute it!
EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fsm->sii_offset = 0x0000;
memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_writing;
fsm->slave = slave;
fsm->master_state = ec_fsm_master_eeprom;
fsm->master_state(fsm); // execute immediately
return;
}
}
// nothing to do. restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Master state: VALIDATE_VENDOR.
Validates the vendor ID of a slave.
@ -479,6 +480,37 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
Master action: ADDRESS.
Looks for slave, that have lost their configuration and writes
their station address, so that they can be reconfigured later.
*/
void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
while (fsm->slave->online) {
if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
// check next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
}
EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
// write station address
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->master_state = ec_fsm_master_rewrite_addresses;
}
/*****************************************************************************/
/**
Master state: VALIDATE_PRODUCT.
Validates the product ID of a slave.
@ -513,7 +545,8 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
// have all states been validated?
if (slave->list.next == &fsm->master->slaves) {
fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_reconfigure;
// start writing addresses to offline slaves
ec_fsm_master_action_addresses(fsm);
return;
}
@ -528,43 +561,14 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
Master state: RECONFIGURE.
Looks for slave, that have lost their configuration and writes
their station address, so that they can be reconfigured later.
*/
void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
while (fsm->slave->online) {
if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
// check next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
}
EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
// write station address
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->master_state = ec_fsm_master_address;
}
/*****************************************************************************/
/**
Master state: ADDRESS.
Checks, if the new station address has been written to the slave.
*/
void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
/**< finite state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
@ -582,8 +586,8 @@ void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
// check next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_reconfigure;
fsm->master_state(fsm); // execute immediately
// Write new station address to slave
ec_fsm_master_action_addresses(fsm);
}
/*****************************************************************************/
@ -593,7 +597,7 @@ void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
Executes the sub-statemachine for the scanning of a slave.
*/
void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
@ -689,12 +693,14 @@ void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
Starts configuring a slave.
*/
void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_master_configure_slave(ec_fsm_t *fsm
/**< finite state machine */
)
{
fsm->slave_state(fsm); // execute slave's state machine
if (fsm->slave_state != ec_fsm_slave_end) return;
fsm->master_state = ec_fsm_master_proc_states;
fsm->master_state(fsm); // execute immediately
ec_fsm_master_action_process_states(fsm);
}
/*****************************************************************************/
@ -703,7 +709,7 @@ void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
Master state: EEPROM.
*/
void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
@ -736,7 +742,7 @@ void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
slave->new_eeprom_data = NULL;
// restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state = ec_fsm_master_start; // TODO: Scan slaves!
fsm->master_state(fsm); // execute immediately
return;
}