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ethercat
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Do not use slaves's SoE state machine for configuration.

This commit is contained in:
Florian Pose 2012-12-06 14:06:10 +01:00
parent a043fea98e
commit c0adb9cbfd
4 changed files with 28 additions and 30 deletions
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6
master/fsm_master.c
View File

@ -86,10 +86,11 @@ void ec_fsm_master_init(
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo);
ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
&fsm->fsm_slave_config, &fsm->fsm_pdo);
ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
@ -105,6 +106,7 @@ void ec_fsm_master_clear(
{
// clear sub-state machines
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_soe_clear(&fsm->fsm_soe);
ec_fsm_pdo_clear(&fsm->fsm_pdo);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
@ -611,7 +613,7 @@ void ec_fsm_master_action_configure(
return;
}
// slave has error flag set; process next one
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
}

1
master/fsm_master.h
View File

@ -90,6 +90,7 @@ struct ec_fsm_master {
ec_sdo_request_t *sdo_request; /**< SDO request to process. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
ec_fsm_soe_t fsm_soe; /**< SoE state machine */
ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */

48
master/fsm_slave_config.c
View File

@ -114,6 +114,7 @@ void ec_fsm_slave_config_init(
ec_datagram_t *datagram, /**< datagram structure to use */
ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
ec_fsm_soe_t *fsm_soe, /**< SoE state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
)
{
@ -123,6 +124,7 @@ void ec_fsm_slave_config_init(
fsm->datagram = datagram;
fsm->fsm_change = fsm_change;
fsm->fsm_coe = fsm_coe;
fsm->fsm_soe = fsm_soe;
fsm->fsm_pdo = fsm_pdo;
}
@ -688,7 +690,9 @@ void ec_fsm_slave_config_state_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (ec_fsm_coe_exec(fsm->fsm_coe)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
@ -726,7 +730,6 @@ void ec_fsm_slave_config_enter_soe_conf_preop(
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
@ -741,10 +744,9 @@ void ec_fsm_slave_config_enter_soe_conf_preop(
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
return;
}
}
@ -762,14 +764,12 @@ void ec_fsm_slave_config_state_soe_conf_preop(
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (ec_fsm_soe_exec(fsm_soe)) {
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
if (ec_fsm_soe_exec(fsm->fsm_soe)) {
return;
}
if (!ec_fsm_soe_success(fsm_soe)) {
if (!ec_fsm_soe_success(fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
@ -788,10 +788,9 @@ void ec_fsm_slave_config_state_soe_conf_preop(
if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
return;
}
}
@ -1455,7 +1454,6 @@ void ec_fsm_slave_config_enter_soe_conf_safeop(
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
@ -1470,10 +1468,9 @@ void ec_fsm_slave_config_enter_soe_conf_safeop(
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
return;
}
}
@ -1491,14 +1488,12 @@ void ec_fsm_slave_config_state_soe_conf_safeop(
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (ec_fsm_soe_exec(fsm_soe)) {
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
if (ec_fsm_soe_exec(fsm->fsm_soe)) {
return;
}
if (!ec_fsm_soe_success(fsm_soe)) {
if (!ec_fsm_soe_success(fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
@ -1517,10 +1512,9 @@ void ec_fsm_slave_config_state_soe_conf_safeop(
if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe); // execute immediately
return;
}
}

3
master/fsm_slave_config.h
View File

@ -56,6 +56,7 @@ struct ec_fsm_slave_config
ec_datagram_t *datagram; /**< Datagram used in the state machine. */
ec_fsm_change_t *fsm_change; /**< State change state machine. */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
ec_fsm_soe_t *fsm_soe; /**< SoE state machine. */
ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
@ -72,7 +73,7 @@ struct ec_fsm_slave_config
/*****************************************************************************/
void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_pdo_t *);
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);
void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);