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Merged changes from Martin Troxler.

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This commit is contained in:
Florian Pose
2009-12-14 13:11:36 +01:00
parent 2a728db130 bf63d965d8
commit 699b184f6f
12 changed files with 5533 additions and 19 deletions
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master/fsm_slave_scan.c
+73 -7
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@@ -52,6 +52,7 @@ void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
@@ -60,6 +61,7 @@ void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
@@ -313,7 +315,7 @@ void ec_fsm_slave_scan_state_base(
for (i = 0; i < EC_MAX_PORTS; i++) {
slave->ports[i].desc = (octet >> (2 * i)) & 0x03;
}
octet = EC_READ_U8(datagram->data + 8);
slave->base_fmmu_bit_operation = octet & 0x01;
slave->base_dc_supported = (octet >> 2) & 0x01;
@@ -600,7 +602,7 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
}
// Evaluate SII contents
ec_slave_clear_sync_managers(slave);
slave->sii.alias =
@@ -711,11 +713,7 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
}
}
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
fsm->state = ec_fsm_slave_scan_state_end;
}
ec_fsm_slave_scan_enter_regalias(fsm);
return;
end:
@@ -724,6 +722,74 @@ end:
fsm->state = ec_fsm_slave_scan_state_error;
}
/*****************************************************************************/
/**
Slave scan entry function: REGALIAS.
*/
void ec_fsm_slave_scan_enter_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
// read alias from register 0x0012
if (slave->master->debug_level)
EC_DBG("Reading alias from register 0x0012 of slave %u.\n",
slave->ring_position);
ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_regalias;
}
/*****************************************************************************/
/**
Slave scan state: REGALIAS.
*/
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
EC_ERR("Failed to receive get reg alias datagram from slave %u"
" (datagram state %u).\n",
fsm->slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
EC_ERR("Failed to read reg alias of slave %u: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
slave->sii.alias = EC_READ_U16(datagram->data);
if (slave->master->debug_level)
EC_DBG("Alias of slave %u is %u.\n",
slave->ring_position,slave->sii.alias);
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
fsm->state = ec_fsm_slave_scan_state_end;
}
}
/*****************************************************************************/
/** Enter slave scan state PREOP.