Separated slave state machines.

master/Kbuild.in

@@ -36,7 +36,8 @@ obj-m := ec_master.o
 ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \
     slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \
     canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \
-    fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
+    fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave_scan.o fsm_slave_config.o \
+    fsm_master.o xmldev.o
 
 ifeq (@ENABLE_EOE@,1)
 	ec_master-objs += ethernet.o

master/Makefile.am

@@ -49,7 +49,8 @@ EXTRA_DIST = \
 	fsm_coe_map.c fsm_coe_map.h \
 	fsm_pdo_mapping.c fsm_pdo_mapping.h \
 	fsm_pdo_config.c fsm_pdo_config.h \
-	fsm_slave.c fsm_slave.h \
+	fsm_slave_scan.c fsm_slave_scan.h \
+	fsm_slave_config.c fsm_slave_config.h \
 	fsm_master.c fsm_master.h \
 	globals.h \
 	mailbox.c mailbox.h \

master/fsm_master.c

@@ -87,7 +87,8 @@ void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
     fsm->tainted = 0;
 
     // init sub-state-machines
-    ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
+    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
+    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram);
     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@@ -103,7 +104,8 @@ void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
 void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
 {
     // clear sub-state machines
-    ec_fsm_slave_clear(&fsm->fsm_slave);
+    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
+    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
     ec_fsm_sii_clear(&fsm->fsm_sii);
     ec_fsm_change_clear(&fsm->fsm_change);
     ec_fsm_coe_clear(&fsm->fsm_coe);
@@ -453,8 +455,8 @@ int ec_fsm_master_action_configure(
         fsm->idle = 0;
         fsm->slave = slave;
         fsm->state = ec_fsm_master_state_configure_slave;
-        ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
-        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
+        ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
         return 1;
     }
 
@@ -864,8 +866,8 @@ void ec_fsm_master_state_clear_addresses(
     // begin scanning of slaves
     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
     fsm->state = ec_fsm_master_state_scan_slaves;
-    ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
-    ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+    ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+    ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
 }
 
 /*****************************************************************************/
@@ -882,7 +884,7 @@ void ec_fsm_master_state_scan_slaves(
     ec_master_t *master = fsm->master;
     ec_slave_t *slave = fsm->slave;
 
-    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
+    if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
         return;
 
 #ifdef EC_EOE
@@ -907,8 +909,8 @@ void ec_fsm_master_state_scan_slaves(
     // another slave to fetch?
     if (slave->list.next != &master->slaves) {
         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
-        ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
-        ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
+        ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
+        ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
         return;
     }
 
@@ -940,10 +942,10 @@ void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
                                    /**< master state machine */
                                    )
 {
-    if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
+    if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
         return;
 
-    if (!ec_fsm_slave_success(&fsm->fsm_slave))
+    if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config))
         fsm->config_error = 1;
 
     // configure next slave, if necessary

master/fsm_master.h

@@ -33,7 +33,7 @@
 
 /**
    \file
-   EtherCAT finite state machines.
+   EtherCAT master state machine.
 */
 
 /*****************************************************************************/
@@ -41,42 +41,35 @@
 #ifndef __EC_FSM_MASTER__
 #define __EC_FSM_MASTER__
 
-#include "globals.h"
 #include "../include/ecrt.h"
-#include "datagram.h"
-//#include "slave.h"
-#include "canopen.h"
 
-#include "fsm_slave.h"
+#include "globals.h"
+#include "datagram.h"
+#include "canopen.h"
+#include "fsm_slave_config.h"
+#include "fsm_slave_scan.h"
 #include "fsm_coe_map.h"
 
 /*****************************************************************************/
 
-/**
- * EEPROM write request.
+/** EEPROM write request.
  */
-
-typedef struct
-{
+typedef struct {
     struct list_head list; /**< list head */
     ec_slave_t *slave; /**< EtherCAT slave */
     off_t word_offset; /**< SII address in words */
     size_t word_size; /**< data size in words */
     const uint8_t *data; /**< pointer to the data */
     ec_request_state_t state; /**< state of the request */
-}
-ec_eeprom_write_request_t;
+} ec_eeprom_write_request_t;
 
 /*****************************************************************************/
 
 typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
 
-/**
-   Finite state machine of an EtherCAT master.
-*/
-
-struct ec_fsm_master
-{
+/** Finite state machine of an EtherCAT master.
+ */
+struct ec_fsm_master {
     ec_master_t *master; /**< master the FSM runs on */
     ec_datagram_t *datagram; /**< datagram used in the state machine */
     unsigned int retries; /**< retries on datagram timeout. */
@@ -96,7 +89,8 @@ struct ec_fsm_master
     off_t eeprom_index; /**< index to EEPROM write request data */
     ec_sdo_request_t *sdo_request; /**< Sdo request to process */
 
-    ec_fsm_slave_t fsm_slave; /**< slave state machine */
+    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
+    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
     ec_fsm_sii_t fsm_sii; /**< SII state machine */
     ec_fsm_change_t fsm_change; /**< State change state machine */
     ec_fsm_coe_t fsm_coe; /**< CoE state machine */

master/fsm_slave_config.h

@@ -33,19 +33,19 @@
 
 /**
    \file
-   EtherCAT finite state machines.
+   EtherCAT slave configuration state machine.
 */
 
 /*****************************************************************************/
 
-#ifndef __EC_FSM_SLAVE__
-#define __EC_FSM_SLAVE__
+#ifndef __EC_FSM_SLAVE_CONFIG__
+#define __EC_FSM_SLAVE_CONFIG__
+
+#include "../include/ecrt.h"
 
 #include "globals.h"
-#include "../include/ecrt.h"
-#include "datagram.h"
 #include "slave.h"
-#include "fsm_sii.h"
+#include "datagram.h"
 #include "fsm_change.h"
 #include "fsm_coe.h"
 #include "fsm_pdo_mapping.h"
@@ -53,21 +53,19 @@
 
 /*****************************************************************************/
 
-typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
+/** \see ec_fsm_slave_config */
+typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
 
-/** Finite state machine of an EtherCAT slave.
+/** Finite state machine to configure an EtherCAT slave.
  */
-struct ec_fsm_slave
+struct ec_fsm_slave_config
 {
     ec_slave_t *slave; /**< Slave the FSM runs on. */
     ec_datagram_t *datagram; /**< Datagram used in the state machine. */
     unsigned int retries; /**< Retries on datagram timeout. */
 
-    void (*state)(ec_fsm_slave_t *); /**< State function. */
+    void (*state)(ec_fsm_slave_config_t *); /**< State function. */
     ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
-    uint16_t sii_offset; /**< SII offset in words. */
-
-    ec_fsm_sii_t fsm_sii; /**< SII state machine. */
     ec_fsm_change_t fsm_change; /**< State change state machine. */
     ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
     ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
@@ -76,14 +74,13 @@ struct ec_fsm_slave
 
 /*****************************************************************************/
 
-void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);
-void ec_fsm_slave_clear(ec_fsm_slave_t *);
+void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *);
+void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
 
-void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);
-void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);
+void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
 
-int ec_fsm_slave_exec(ec_fsm_slave_t *);
-int ec_fsm_slave_success(const ec_fsm_slave_t *);
+int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
+int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
 
 /*****************************************************************************/
 

master/fsm_slave_scan.h

@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT slave scanning state machine.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SLAVE_SCAN__
+#define __EC_FSM_SLAVE_SCAN__
+
+#include "../include/ecrt.h"
+
+#include "globals.h"
+#include "datagram.h"
+#include "slave.h"
+#include "fsm_sii.h"
+#include "fsm_change.h"
+#include "fsm_coe.h"
+#include "fsm_pdo_mapping.h"
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+/** \see ec_fsm_slave_scan */
+typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;
+
+/** Finite state machine for scanning an EtherCAT slave.
+ */
+struct ec_fsm_slave_scan
+{
+    ec_slave_t *slave; /**< Slave the FSM runs on. */
+    ec_datagram_t *datagram; /**< Datagram used in the state machine. */
+    unsigned int retries; /**< Retries on datagram timeout. */
+
+    void (*state)(ec_fsm_slave_scan_t *); /**< State function. */
+    uint16_t sii_offset; /**< SII offset in words. */
+
+    ec_fsm_sii_t fsm_sii; /**< SII state machine. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *);
+void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);
+
+void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);
+
+int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);
+int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);
+
+/*****************************************************************************/
+
+#endif