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Moved Pdo sync manager configuration before Pdo assignment in slave

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configuration state machine.
This commit is contained in:
Florian Pose
2008-04-07 13:57:41 +00:00
parent 2bc8498f8a
commit eeb80bb7b7
2 changed files with 104 additions and 105 deletions
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27
documentation/graphs/fsm_slave_conf.dot
View File

@@ -34,20 +34,26 @@ digraph slaveconf {
//preop -> preop
//preop -> error
preop -> end [fontname="Helvetica",label="PREOP\nrequested"]
preop -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
preop -> enter_sdo_conf [weight=10]
enter_sdo_conf [shape=point,label=""]
enter_sdo_conf -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
enter_sdo_conf -> enter_pdo_assign [fontname="Helvetica",label="No Sdo\nconfigurations"]
enter_sdo_conf -> enter_pdo_sync [fontname="Helvetica",label="No Sdo\nconfigurations"]
enter_sdo_conf -> sdo_conf [weight=10]
sdo_conf [fontname="Helvetica"]
//sdo_conf -> sdo_conf
//sdo_conf -> error
sdo_conf -> enter_pdo_assign [weight=10]
sdo_conf -> enter_pdo_sync [weight=10]
enter_pdo_assign [shape=point,label=""]
enter_pdo_assign -> pdo_assign [weight=10]
enter_pdo_sync [shape=point,label=""]
enter_pdo_sync -> enter_safeop [fontname="Helvetica",label="No Pdos"]
enter_pdo_sync -> pdo_sync [weight=10]
pdo_sync [fontname="Helvetica"]
//pdo_sync -> pdo_sync
//pdo_sync -> error
pdo_sync -> pdo_assign [weight=10]
pdo_assign [fontname="Helvetica"]
//pdo_assign -> pdo_assign
@@ -57,16 +63,7 @@ digraph slaveconf {
pdo_mapping [fontname="Helvetica"]
//pdo_mapping -> pdo_mapping
//pdo_mapping -> error
pdo_mapping -> enter_pdo_sync [weight=10]
enter_pdo_sync [shape=point,label=""]
enter_pdo_sync -> pdo_sync [weight=10]
enter_pdo_sync -> enter_fmmu [fontname="Helvetica",label="No Pdos"]
pdo_sync [fontname="Helvetica"]
//pdo_sync -> pdo_sync
//pdo_sync -> error
pdo_sync -> enter_fmmu [weight=10]
pdo_mapping -> enter_fmmu [weight=10]
enter_fmmu [shape=point,label=""]
enter_fmmu -> enter_safeop [fontname="Helvetica",label="No FMMUs\nto configure"]

182
master/fsm_slave_config.c
View File

@@ -52,9 +52,9 @@ void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_mapping(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
@@ -62,8 +62,8 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_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_pdo_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
@@ -415,12 +415,18 @@ void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %i.\n",
EC_DBG("Finished configuration of slave %u.\n",
slave->ring_position);
}
return;
}
if (!slave->config) {
EC_DBG("Slave %u is not configured.\n", slave->ring_position);
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
@@ -434,15 +440,9 @@ void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave st
{
ec_slave_t *slave = fsm->slave;
if (!slave->config) {
EC_DBG("Slave %u is not configured.\n", slave->ring_position);
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
ec_fsm_slave_config_enter_pdo_assign(fsm);
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
@@ -486,6 +486,88 @@ void ec_fsm_slave_config_state_sdo_conf(
}
// All Sdos are now configured.
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
/*****************************************************************************/
/**
* Check for Pdo sync managers to be configured.
*/
void ec_fsm_slave_config_enter_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i, offset, num_pdo_syncs;
const ec_sync_t *sync;
ec_direction_t dir;
uint16_t size;
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
} else {
offset = 0;
}
if (slave->sii.sync_count <= offset) {
// no Pdo sync managers to configure
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
num_pdo_syncs = slave->sii.sync_count - offset;
// configure sync managers for process data
ec_datagram_fpwr(datagram, slave->station_address,
0x0800 + EC_SYNC_PAGE_SIZE * offset,
EC_SYNC_PAGE_SIZE * num_pdo_syncs);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
for (i = 0; i < num_pdo_syncs; i++) {
sync = &slave->sii.syncs[i + offset];
dir = ec_sync_direction(sync);
size = ec_pdo_list_total_size(&slave->config->pdos[dir]);
ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_pdo_sync;
}
/*****************************************************************************/
/**
* Configure Pdo sync managers.
*/
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_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_config_state_error;
EC_ERR("Failed to receive process data sync manager configuration"
" datagram for slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set process data sync managers of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_pdo_assign(fsm);
}
@@ -551,86 +633,6 @@ void ec_fsm_slave_config_state_pdo_mapping(
return;
}
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
/*****************************************************************************/
/**
* Check for Pdo sync managers to be configured.
*/
void ec_fsm_slave_config_enter_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i, offset, num_syncs;
const ec_sync_t *sync;
ec_direction_t dir;
uint16_t size;
if (!slave->sii.sync_count) {
ec_fsm_slave_config_enter_fmmu(fsm);
return;
}
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
} else {
offset = 0;
}
num_syncs = slave->sii.sync_count - offset;
// configure sync managers for process data
ec_datagram_fpwr(datagram, slave->station_address,
0x0800 + EC_SYNC_PAGE_SIZE * offset,
EC_SYNC_PAGE_SIZE * num_syncs);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
for (i = 0; i < num_syncs; i++) {
sync = &slave->sii.syncs[i + offset];
dir = ec_sync_direction(sync);
size = ec_pdo_list_total_size(&slave->config->pdos[dir]);
ec_sync_config(sync, size, datagram->data + EC_SYNC_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_pdo_sync;
}
/*****************************************************************************/
/**
* Configure Pdo sync managers.
*/
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_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_config_state_error;
EC_ERR("Failed to receive process data sync manager configuration"
" datagram for slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set process data sync managers of slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_fmmu(fsm);
}