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Set EoE IP params during slave configuation.

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This commit is contained in:
Florian Pose
2024-05-14 17:52:50 +02:00
parent 0fb163ea5b
commit bfa618ebbb
4 changed files with 67 additions and 6 deletions
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5
master/fsm_master.c
View File

@@ -92,9 +92,11 @@ void ec_fsm_master_init(
ec_fsm_coe_init(&fsm->fsm_coe);
ec_fsm_soe_init(&fsm->fsm_soe);
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
ec_fsm_eoe_init(&fsm->fsm_eoe);
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_soe, &fsm->fsm_pdo);
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo,
&fsm->fsm_eoe);
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);
@@ -112,6 +114,7 @@ void ec_fsm_master_clear(
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_soe_clear(&fsm->fsm_soe);
ec_fsm_pdo_clear(&fsm->fsm_pdo);
ec_fsm_eoe_clear(&fsm->fsm_eoe);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

1
master/fsm_master.h
View File

@@ -85,6 +85,7 @@ struct ec_fsm_master {
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_eoe_t fsm_eoe; /**< EoE state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

60
master/fsm_slave_config.c
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -67,6 +67,7 @@ void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_eoe_ip_param(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@@ -91,6 +92,7 @@ void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_eoe_ip_param(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@@ -117,7 +119,8 @@ void ec_fsm_slave_config_init(
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. */
ec_fsm_pdo_t *fsm_pdo, /**< PDO configuration state machine to use. */
ec_fsm_eoe_t *fsm_eoe /**< EoE state machine to use. */
)
{
ec_sdo_request_init(&fsm->request_copy);
@@ -128,6 +131,7 @@ void ec_fsm_slave_config_init(
fsm->fsm_coe = fsm_coe;
fsm->fsm_soe = fsm_soe;
fsm->fsm_pdo = fsm_pdo;
fsm->fsm_eoe = fsm_eoe;
fsm->wait_ms = 0;
}
@@ -901,7 +905,7 @@ void ec_fsm_slave_config_enter_soe_conf_preop(
}
// No SoE configuration to be applied in PREOP
ec_fsm_slave_config_enter_pdo_conf(fsm);
ec_fsm_slave_config_enter_eoe_ip_param(fsm);
}
/****************************************************************************/
@@ -945,6 +949,56 @@ void ec_fsm_slave_config_state_soe_conf_preop(
}
// All PREOP IDNs are now configured.
ec_fsm_slave_config_enter_eoe_ip_param(fsm);
}
/****************************************************************************/
/** EOE_IP_PARAM entry function.
*/
void ec_fsm_slave_config_enter_eoe_ip_param(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
#if EC_EOE
ec_slave_t *slave = fsm->slave;
ec_eoe_request_t *request = &slave->config->eoe_ip_param_request;
if (ec_eoe_request_valid(request)) {
EC_SLAVE_DBG(slave, 1, "Setting EoE IP parameters...\n");
// Start EoE command
fsm->state = ec_fsm_slave_config_state_eoe_ip_param;
ec_fsm_eoe_set_ip_param(fsm->fsm_eoe, slave, request);
ec_fsm_eoe_exec(fsm->fsm_eoe, fsm->datagram); // execute immediately
return;
}
#endif
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/****************************************************************************/
/** Slave configuration state: EOE_IP_PARAM.
*/
void ec_fsm_slave_config_state_eoe_ip_param(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
if (ec_fsm_eoe_exec(fsm->fsm_eoe, fsm->datagram)) {
return;
}
if (ec_fsm_eoe_success(fsm->fsm_eoe)) {
EC_SLAVE_DBG(slave, 1, "Finished setting EoE IP parameters.\n");
}
else {
EC_SLAVE_ERR(slave, "Failed to set EoE IP parameters.\n");
}
ec_fsm_slave_config_enter_pdo_conf(fsm);
}

7
master/fsm_slave_config.h
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -34,6 +34,7 @@
#include "fsm_change.h"
#include "fsm_coe.h"
#include "fsm_pdo.h"
#include "fsm_eoe.h"
/****************************************************************************/
@@ -49,6 +50,7 @@ struct ec_fsm_slave_config
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_eoe_t *fsm_eoe; /**< EoE state machine. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
void (*state)(ec_fsm_slave_config_t *); /**< State function. */
@@ -65,7 +67,8 @@ 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_soe_t *, ec_fsm_pdo_t *);
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *,
ec_fsm_eoe_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 *);