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

Moved SDO dictionary fetching to master FSMs; added SDO parent kobj.

This commit is contained in:
Florian Pose 2006-10-19 14:23:24 +00:00
parent 7642448f62
commit e33b75b2b5
4 changed files with 148 additions and 202 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
master/canopen.c
View File

@ -111,8 +111,8 @@ int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
memset(&sdo->kobj, 0x00, sizeof(struct kobject));
kobject_init(&sdo->kobj);
sdo->kobj.ktype = &ktype_ec_sdo;
sdo->kobj.parent = &slave->kobj;
if (kobject_set_name(&sdo->kobj, "sdo%4X", sdo->index)) {
sdo->kobj.parent = &slave->sdo_kobj;
if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
EC_ERR("Failed to set kobj name.\n");
return -1;
}
@ -195,7 +195,7 @@ int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
kobject_init(&entry->kobj);
entry->kobj.ktype = &ktype_ec_sdo_entry;
entry->kobj.parent = &sdo->kobj;
if (kobject_set_name(&entry->kobj, "entry%02X", entry->subindex)) {
if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
EC_ERR("Failed to set kobj name.\n");
return -1;
}

320
master/fsm.c
View File

@ -54,6 +54,7 @@ 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_master_sdodict(ec_fsm_t *);
void ec_fsm_startup_start(ec_fsm_t *);
void ec_fsm_startup_broadcast(ec_fsm_t *);
@ -73,9 +74,8 @@ void ec_fsm_slavescan_eeprom_data(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_sdodict(ec_fsm_t *);
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
@ -593,6 +593,39 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
// Check, if EoE processing has to be started
ec_master_eoe_start(master);
// check, if slaves have an SDO dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < 5 * HZ
|| !slave->online
|| slave->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching SDO dictionary of slave %i.\n",
slave->ring_position);
}
if (kobject_add(&slave->sdo_kobj)) {
EC_ERR("Failed to add SDO kobj of slave %i.\n",
slave->ring_position);
slave->error_flag = 1;
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
slave->sdo_dictionary_fetched = 1;
// start fetching SDO dictionary
fsm->slave = slave;
fsm->master_state = ec_fsm_master_sdodict;
fsm->coe_state = ec_fsm_coe_dict_start;
fsm->coe_state(fsm); // execute immediately
return;
}
if (master->mode == EC_MASTER_MODE_IDLE) {
// nothing to configure. check for pending EEPROM write operations.
list_for_each_entry(slave, &master->slaves, list) {
@ -982,7 +1015,39 @@ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
// restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
/*****************************************************************************/
/**
Master state: SDODICT.
*/
void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
fsm->coe_state(fsm); // execute CoE state machine
if (fsm->coe_state == ec_fsm_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
if (fsm->coe_state != ec_fsm_end) return;
// SDO dictionary fetching finished
if (master->debug_level) {
EC_DBG("Finished fetching SDO dictionary of slave %i.\n",
slave->ring_position);
}
// restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
}
/******************************************************************************
@ -1434,139 +1499,12 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->change_state != ec_fsm_end) return;
// slave is now in PREOP
slave->jiffies_preop = fsm->datagram.jiffies_received;
if (master->debug_level) {
EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
}
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
// slave does not support CoE. skip dictionary fetching
// and SDO configuration
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
slave->ring_position);
}
return;
}
if (!slave->base_fmmu_count) {
// slave has no FMMUs. skip configuration and go to SAVEOP
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
return;
}
// configure 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);
for (j = 0; j < slave->fmmu_count; j++) {
ec_fmmu_config(&slave->fmmus[j], slave,
datagram->data + EC_FMMU_SIZE * j);
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slaveconf_fmmu;
return;
}
if (!list_empty(&slave->sdo_dictionary)) {
// SDO dictionary already fetched
if (master->debug_level) {
EC_DBG("SDO dictionary already present for slave %i.\n",
slave->ring_position);
}
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
slave->ring_position);
}
return;
}
if (list_empty(&slave->sdo_confs)) {
// skip SDO configuration
if (!slave->base_fmmu_count) {
// slave has no FMMUs. skip configuration and go to SAVEOP
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
return;
}
// configure 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);
for (j = 0; j < slave->fmmu_count; j++) {
ec_fmmu_config(&slave->fmmus[j], slave,
datagram->data + EC_FMMU_SIZE * j);
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slaveconf_fmmu;
return;
}
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
return;
}
if (master->debug_level) {
EC_DBG("Fetching SDO dictionary of slave %i.\n",
slave->ring_position);
}
// start fetching SDO dictionary
fsm->slave_state = ec_fsm_slaveconf_sdodict;
fsm->coe_state = ec_fsm_coe_dict_start;
fsm->coe_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Slave configuration state: SDODICT.
*/
void ec_fsm_slaveconf_sdodict(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
ec_master_t *master = fsm->master;
unsigned int j;
fsm->coe_state(fsm); // execute CoE state machine
if (fsm->coe_state == ec_fsm_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
if (fsm->coe_state != ec_fsm_end) return;
// SDO dictionary fetching finished
if (master->debug_level) {
EC_DBG("Finished fetching SDO dictionary of slave %i.\n",
slave->ring_position);
}
if (slave->current_state == slave->requested_state) {
fsm->slave_state = ec_fsm_end; // successful
if (master->debug_level) {
@ -1576,13 +1514,8 @@ void ec_fsm_slaveconf_sdodict(ec_fsm_t *fsm /**< finite state machine */)
return;
}
if (list_empty(&slave->sdo_confs)) {
// skip SDO configuration
if (!slave->base_fmmu_count) {
// slave has no FMMUs. skip configuration.
// set state to SAVEOP
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
@ -1590,72 +1523,14 @@ void ec_fsm_slaveconf_sdodict(ec_fsm_t *fsm /**< finite state machine */)
return;
}
// configure 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);
for (j = 0; j < slave->fmmu_count; j++) {
ec_fmmu_config(&slave->fmmus[j], slave,
datagram->data + EC_FMMU_SIZE * j);
}
ec_master_queue_datagram(master, datagram);
fsm->slave_state = ec_fsm_slaveconf_fmmu;
return;
}
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Slave configuration state: SDOCONF.
*/
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
ec_master_t *master = fsm->master;
unsigned int j;
fsm->coe_state(fsm); // execute CoE state machine
if (fsm->coe_state == ec_fsm_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
if (fsm->coe_state != ec_fsm_end) return;
// Another SDO to configure?
if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
ec_sdo_data_t, list);
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
return;
}
// All SDOs are now configured.
if (!slave->base_fmmu_count) {
// slave has no FMMUs. skip configuration.
// set state to SAVEOP
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
return;
}
// configure FMMUs
ec_datagram_npwr(datagram, slave->station_address,
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
@ -1678,6 +1553,7 @@ void ec_fsm_slaveconf_sdoconf(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;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
@ -1688,6 +1564,52 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
return;
}
// No CoE configuration to be applied? Jump to SAVEOP state.
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
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
return;
}
// start SDO configuration
fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Slave configuration state: SDOCONF.
*/
void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->coe_state(fsm); // execute CoE state machine
if (fsm->coe_state == ec_fsm_error) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
return;
}
if (fsm->coe_state != ec_fsm_end) return;
// Another SDO to configure?
if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
ec_sdo_data_t, list);
fsm->coe_state = ec_fsm_coe_down_start;
fsm->coe_state(fsm); // execute immediately
return;
}
// All SDOs are now configured.
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;

21
master/slave.c
View File

@ -83,6 +83,8 @@ static struct kobj_type ktype_ec_slave = {
.default_attrs = def_attrs
};
static struct kobj_type ktype_ec_slave_sdos = {};
/** \endcond */
/*****************************************************************************/
@ -114,6 +116,18 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
return -1;
}
// init SDO kobject and add it to the hierarchy
memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
kobject_init(&slave->sdo_kobj);
slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
slave->sdo_kobj.parent = &slave->kobj;
if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
EC_ERR("Failed to set kobject name.\n");
kobject_put(&slave->sdo_kobj);
kobject_put(&slave->kobj);
return -1;
}
slave->master = master;
slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
@ -158,6 +172,9 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
INIT_LIST_HEAD(&slave->sdo_dictionary);
INIT_LIST_HEAD(&slave->sdo_confs);
slave->sdo_dictionary_fetched = 0;
slave->jiffies_preop = 0;
for (i = 0; i < 4; i++) {
slave->dl_link[i] = 0;
slave->dl_loop[i] = 0;
@ -225,6 +242,10 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
kobject_put(&sdo->kobj);
}
// free SDO kobject
if (slave->sdo_dictionary_fetched) kobject_del(&slave->sdo_kobj);
kobject_put(&slave->sdo_kobj);
// free all SDO configurations
list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
list_del(&sdodata->list);

3
master/slave.h
View File

@ -248,8 +248,11 @@ struct ec_slave
ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */
uint8_t fmmu_count; /**< number of FMMUs used */
struct kobject sdo_kobj; /**< kobject for SDOs */
struct list_head sdo_dictionary; /**< SDO dictionary list */
struct list_head sdo_confs; /**< list of SDO configurations */
uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */
unsigned long jiffies_preop; /**< time, the slave went to PREOP */
};
/*****************************************************************************/