mirror of
https://gitlab.com/etherlab.org/ethercat.git
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1340 lines
43 KiB
C
1340 lines
43 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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*****************************************************************************/
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/** \file
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*
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* EtherCAT slave configuration state machine.
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*/
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/*****************************************************************************/
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#include <asm/div64.h>
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave_config.h"
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/*****************************************************************************/
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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
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/*****************************************************************************/
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/** Constructor.
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*/
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void ec_fsm_slave_config_init(
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ec_fsm_slave_config_t *fsm, /**< slave state machine */
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ec_datagram_t *datagram, /**< datagram structure to use */
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ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
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ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
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ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
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)
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{
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ec_sdo_request_init(&fsm->request_copy);
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fsm->datagram = datagram;
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fsm->fsm_change = fsm_change;
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fsm->fsm_coe = fsm_coe;
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fsm->fsm_pdo = fsm_pdo;
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}
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/*****************************************************************************/
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/** Destructor.
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*/
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void ec_fsm_slave_config_clear(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_sdo_request_clear(&fsm->request_copy);
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}
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/*****************************************************************************/
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/** Start slave configuration state machine.
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*/
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void ec_fsm_slave_config_start(
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ec_fsm_slave_config_t *fsm, /**< slave state machine */
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ec_slave_t *slave /**< slave to configure */
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)
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{
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fsm->slave = slave;
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fsm->state = ec_fsm_slave_config_state_start;
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}
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/*****************************************************************************/
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/**
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* \return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_running(
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const ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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return fsm->state != ec_fsm_slave_config_state_end
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&& fsm->state != ec_fsm_slave_config_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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*
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* If the state machine's datagram is not sent or received yet, the execution
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* of the state machine is delayed to the next cycle.
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*
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* \return false, if state machine has terminated
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*/
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int ec_fsm_slave_config_exec(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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if (fsm->datagram->state == EC_DATAGRAM_SENT
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|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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// datagram was not sent or received yet.
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return ec_fsm_slave_config_running(fsm);
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}
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fsm->state(fsm);
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return ec_fsm_slave_config_running(fsm);
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}
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/*****************************************************************************/
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/**
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* \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_slave_config_success(
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const ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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return fsm->state == ec_fsm_slave_config_state_end;
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}
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/******************************************************************************
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* Slave configuration state machine
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*****************************************************************************/
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/** Slave configuration state: START.
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*/
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void ec_fsm_slave_config_state_start(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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if (fsm->slave->master->debug_level) {
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EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
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}
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ec_fsm_slave_config_enter_init(fsm);
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}
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/*****************************************************************************/
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/** Start state change to INIT.
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*/
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void ec_fsm_slave_config_enter_init(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
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ec_fsm_change_exec(fsm->fsm_change);
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fsm->state = ec_fsm_slave_config_state_init;
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}
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/*****************************************************************************/
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/** Slave configuration state: INIT.
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*/
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void ec_fsm_slave_config_state_init(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_master_t *master = fsm->slave->master;
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ec_slave_t *slave = fsm->slave;
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ec_datagram_t *datagram = fsm->datagram;
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if (ec_fsm_change_exec(fsm->fsm_change)) return;
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if (!ec_fsm_change_success(fsm->fsm_change)) {
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if (!fsm->fsm_change->spontaneous_change)
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slave->error_flag = 1;
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fsm->state = ec_fsm_slave_config_state_error;
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return;
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}
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if (master->debug_level) {
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EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
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}
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if (!slave->base_fmmu_count) { // skip FMMU configuration
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ec_fsm_slave_config_enter_clear_sync(fsm);
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return;
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}
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if (master->debug_level)
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EC_DBG("Clearing FMMU configurations of slave %u...\n",
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slave->ring_position);
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// clear FMMU configurations
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ec_datagram_fpwr(datagram, slave->station_address,
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0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
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ec_datagram_zero(datagram);
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_slave_config_state_clear_fmmus;
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}
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/*****************************************************************************/
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/** Slave configuration state: CLEAR FMMU.
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*/
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void ec_fsm_slave_config_state_clear_fmmus(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
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fsm->slave->ring_position);
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return;
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}
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if (datagram->working_counter != 1) {
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fsm->slave->error_flag = 1;
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed to clear FMMUs of slave %u: ",
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fsm->slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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ec_fsm_slave_config_enter_clear_sync(fsm);
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}
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/*****************************************************************************/
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/** Clear the sync manager configurations.
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*/
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void ec_fsm_slave_config_enter_clear_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_slave_t *slave = fsm->slave;
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ec_datagram_t *datagram = fsm->datagram;
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size_t sync_size;
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if (!slave->sii.sync_count) { // FIXME use base_sync_count?
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// no sync managers
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ec_fsm_slave_config_enter_dc_clear_assign(fsm);
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return;
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}
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if (slave->master->debug_level)
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EC_DBG("Clearing sync manager configurations of slave %u...\n",
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slave->ring_position);
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sync_size = EC_SYNC_PAGE_SIZE * slave->sii.sync_count;
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// clear sync manager configurations
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ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
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memset(datagram->data, 0x00, sync_size);
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_slave_config_state_clear_sync;
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}
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/*****************************************************************************/
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/** Slave configuration state: CLEAR SYNC.
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*/
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void ec_fsm_slave_config_state_clear_sync(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed receive sync manager clearing datagram"
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" for slave %u.\n", fsm->slave->ring_position);
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return;
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}
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if (datagram->working_counter != 1) {
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fsm->slave->error_flag = 1;
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed to clear sync manager configurations of slave %u: ",
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fsm->slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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ec_fsm_slave_config_enter_dc_clear_assign(fsm);
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}
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/*****************************************************************************/
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/** Clear the DC assignment.
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*/
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void ec_fsm_slave_config_enter_dc_clear_assign(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_slave_t *slave = fsm->slave;
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ec_datagram_t *datagram = fsm->datagram;
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if (!slave->base_dc_supported || !slave->has_dc_system_time) {
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ec_fsm_slave_config_enter_mbox_sync(fsm);
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return;
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}
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if (slave->master->debug_level)
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EC_DBG("Clearing DC assignment of slave %u...\n",
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slave->ring_position);
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ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
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ec_datagram_zero(datagram);
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
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}
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/*****************************************************************************/
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/** Slave configuration state: CLEAR DC ASSIGN.
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*/
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void ec_fsm_slave_config_state_dc_clear_assign(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed receive DC assignment clearing datagram"
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" for slave %u.\n", fsm->slave->ring_position);
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return;
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}
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if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
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// clearing the DC assignment does not succeed on simple slaves
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EC_DBG("Failed to clear DC assignment of slave %u: ",
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fsm->slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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}
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// read DC system time and system time offset
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ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_slave_config_state_dc_read_offset;
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}
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/*****************************************************************************/
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/** Slave configuration state: DC READ OFFSET.
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*/
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void ec_fsm_slave_config_state_dc_read_offset(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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ec_slave_t *slave = fsm->slave;
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u64 system_time, old_offset, new_offset;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed to receive DC times datagram for slave %u"
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" (datagram state %u).\n",
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slave->ring_position, datagram->state);
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return;
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}
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if (datagram->working_counter != 1) {
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slave->error_flag = 1;
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed to get DC times of slave %u: ",
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slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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system_time = EC_READ_U64(datagram->data);
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old_offset = EC_READ_U64(datagram->data + 16);
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new_offset = slave->master->app_time - system_time + old_offset;
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if (slave->master->debug_level)
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EC_DBG("Slave %u: DC system_time=%llu old_offset=%llu, "
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"app_time=%llu, new_offset=%llu\n",
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slave->ring_position, system_time, old_offset,
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slave->master->app_time, new_offset);
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// set DC system time offset and transmission delay
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ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
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EC_WRITE_U64(datagram->data, new_offset);
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EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_slave_config_state_dc_write_offset;
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}
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/*****************************************************************************/
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/** Slave configuration state: DC WRITE OFFSET.
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*/
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void ec_fsm_slave_config_state_dc_write_offset(
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ec_fsm_slave_config_t *fsm /**< slave state machine */
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)
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{
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ec_datagram_t *datagram = fsm->datagram;
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ec_slave_t *slave = fsm->slave;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_slave_config_state_error;
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EC_ERR("Failed to receive DC system time offset datagram for slave %u"
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" (datagram state %u).\n",
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slave->ring_position, datagram->state);
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return;
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}
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if (datagram->working_counter != 1) {
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
EC_ERR("Failed to set DC system time offset of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_mbox_sync(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Check for mailbox sync managers to be configured.
|
|
*/
|
|
void ec_fsm_slave_config_enter_mbox_sync(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_master_t *master = fsm->slave->master;
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_datagram_t *datagram = fsm->datagram;
|
|
unsigned int i;
|
|
|
|
// slave is now in INIT
|
|
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 %u.\n",
|
|
slave->ring_position);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (!slave->sii.mailbox_protocols) {
|
|
// no mailbox protocols supported
|
|
if (master->debug_level)
|
|
EC_DBG("Slave %u does not support mailbox communication.\n",
|
|
slave->ring_position);
|
|
ec_fsm_slave_config_enter_boot_preop(fsm);
|
|
return;
|
|
}
|
|
|
|
if (master->debug_level) {
|
|
EC_DBG("Configuring mailbox sync managers of slave %u.\n",
|
|
slave->ring_position);
|
|
}
|
|
|
|
if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
|
|
ec_sync_t sync;
|
|
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
|
|
EC_SYNC_PAGE_SIZE * 2);
|
|
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
|
|
|
|
ec_sync_init(&sync, slave);
|
|
sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
|
|
sync.control_register = 0x26;
|
|
sync.enable = 1;
|
|
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
|
|
EC_DIR_INVALID, // use default direction
|
|
datagram->data);
|
|
slave->configured_rx_mailbox_offset =
|
|
slave->sii.boot_rx_mailbox_offset;
|
|
slave->configured_rx_mailbox_size =
|
|
slave->sii.boot_rx_mailbox_size;
|
|
|
|
ec_sync_init(&sync, slave);
|
|
sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
|
|
sync.control_register = 0x22;
|
|
sync.enable = 1;
|
|
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
|
|
EC_DIR_INVALID, // use default direction
|
|
datagram->data + EC_SYNC_PAGE_SIZE);
|
|
slave->configured_tx_mailbox_offset =
|
|
slave->sii.boot_tx_mailbox_offset;
|
|
slave->configured_tx_mailbox_size =
|
|
slave->sii.boot_tx_mailbox_size;
|
|
|
|
} else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
|
|
EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
|
|
ec_datagram_zero(datagram);
|
|
|
|
for (i = 0; i < 2; i++) {
|
|
ec_sync_page(&slave->sii.syncs[i], i,
|
|
slave->sii.syncs[i].default_length,
|
|
EC_DIR_INVALID, // use default direction
|
|
datagram->data + EC_SYNC_PAGE_SIZE * i);
|
|
}
|
|
|
|
slave->configured_rx_mailbox_offset =
|
|
slave->sii.syncs[0].physical_start_address;
|
|
slave->configured_rx_mailbox_size =
|
|
slave->sii.syncs[0].default_length;
|
|
slave->configured_tx_mailbox_offset =
|
|
slave->sii.syncs[1].physical_start_address;
|
|
slave->configured_tx_mailbox_size =
|
|
slave->sii.syncs[1].default_length;
|
|
} else { // no mailbox sync manager configurations provided
|
|
ec_sync_t sync;
|
|
|
|
if (master->debug_level)
|
|
EC_DBG("Slave %u does not provide"
|
|
" mailbox sync manager configurations.\n",
|
|
slave->ring_position);
|
|
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
|
|
EC_SYNC_PAGE_SIZE * 2);
|
|
ec_datagram_zero(datagram);
|
|
|
|
ec_sync_init(&sync, slave);
|
|
sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
|
|
sync.control_register = 0x26;
|
|
sync.enable = 1;
|
|
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
|
|
EC_DIR_INVALID, // use default direction
|
|
datagram->data);
|
|
slave->configured_rx_mailbox_offset =
|
|
slave->sii.std_rx_mailbox_offset;
|
|
slave->configured_rx_mailbox_size =
|
|
slave->sii.std_rx_mailbox_size;
|
|
|
|
ec_sync_init(&sync, slave);
|
|
sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
|
|
sync.control_register = 0x22;
|
|
sync.enable = 1;
|
|
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
|
|
EC_DIR_INVALID, // use default direction
|
|
datagram->data + EC_SYNC_PAGE_SIZE);
|
|
slave->configured_tx_mailbox_offset =
|
|
slave->sii.boot_tx_mailbox_offset;
|
|
slave->configured_tx_mailbox_size =
|
|
slave->sii.boot_tx_mailbox_size;
|
|
}
|
|
|
|
fsm->take_time = 1;
|
|
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_slave_config_state_mbox_sync;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: SYNC.
|
|
*
|
|
* \todo Timeout for response.
|
|
*/
|
|
void ec_fsm_slave_config_state_mbox_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 sync manager configuration datagram for"
|
|
" slave %u (datagram state %u).\n",
|
|
slave->ring_position, datagram->state);
|
|
return;
|
|
}
|
|
|
|
if (fsm->take_time) {
|
|
fsm->take_time = 0;
|
|
fsm->jiffies_start = datagram->jiffies_sent;
|
|
}
|
|
|
|
/* Because the sync manager configurations are cleared during the last
|
|
* cycle, some slaves do not immediately respond to the mailbox sync
|
|
* manager configuration datagram. Therefore, resend the datagram for
|
|
* a certain time, if the slave does not respond.
|
|
*/
|
|
if (datagram->working_counter == 0) {
|
|
unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
|
|
|
|
if (diff >= HZ) {
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
EC_ERR("Timeout while configuring mailbox sync managers of"
|
|
" slave %u.\n", slave->ring_position);
|
|
return;
|
|
}
|
|
else if (slave->master->debug_level) {
|
|
EC_DBG("Resending after %u ms...\n",
|
|
(unsigned int) diff * 1000 / HZ);
|
|
}
|
|
|
|
// send configuration datagram again
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
else if (datagram->working_counter != 1) {
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
EC_ERR("Failed to set sync managers of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_boot_preop(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Request PREOP state.
|
|
*/
|
|
void ec_fsm_slave_config_enter_boot_preop(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
fsm->state = ec_fsm_slave_config_state_boot_preop;
|
|
|
|
if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
|
|
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
|
|
} else { // BOOT
|
|
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
|
|
}
|
|
|
|
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: BOOT/PREOP.
|
|
*/
|
|
void ec_fsm_slave_config_state_boot_preop(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_master_t *master = fsm->slave->master;
|
|
|
|
if (ec_fsm_change_exec(fsm->fsm_change)) return;
|
|
|
|
if (!ec_fsm_change_success(fsm->fsm_change)) {
|
|
if (!fsm->fsm_change->spontaneous_change)
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
return;
|
|
}
|
|
|
|
// slave is now in BOOT or PREOP
|
|
slave->jiffies_preop = fsm->datagram->jiffies_received;
|
|
|
|
if (master->debug_level) {
|
|
EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
|
|
slave->requested_state != EC_SLAVE_STATE_BOOT
|
|
? "PREOP" : "BOOT");
|
|
}
|
|
|
|
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 %u.\n",
|
|
slave->ring_position);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (!slave->config) {
|
|
EC_WARN("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);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Check for SDO configurations to be applied.
|
|
*/
|
|
void ec_fsm_slave_config_enter_sdo_conf(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
// No CoE configuration to be applied?
|
|
// FIXME check for config
|
|
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
|
|
ec_fsm_slave_config_enter_pdo_conf(fsm);
|
|
return;
|
|
}
|
|
|
|
// start SDO configuration
|
|
fsm->state = ec_fsm_slave_config_state_sdo_conf;
|
|
fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
|
|
ec_sdo_request_t, list);
|
|
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
|
|
ecrt_sdo_request_write(&fsm->request_copy);
|
|
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
|
|
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: SDO_CONF.
|
|
*/
|
|
void ec_fsm_slave_config_state_sdo_conf(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
|
|
|
|
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
|
|
EC_ERR("SDO configuration failed for slave %u.\n",
|
|
fsm->slave->ring_position);
|
|
fsm->slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
return;
|
|
}
|
|
|
|
if (!fsm->slave->config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
// Another SDO to configure?
|
|
if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
|
|
fsm->request = list_entry(fsm->request->list.next,
|
|
ec_sdo_request_t, list);
|
|
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
|
|
ecrt_sdo_request_write(&fsm->request_copy);
|
|
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
|
|
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
|
|
return;
|
|
}
|
|
|
|
// All SDOs are now configured.
|
|
ec_fsm_slave_config_enter_pdo_conf(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** PDO_CONF entry function.
|
|
*/
|
|
void ec_fsm_slave_config_enter_pdo_conf(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
// Start configuring PDOs
|
|
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
|
|
fsm->state = ec_fsm_slave_config_state_pdo_conf;
|
|
fsm->state(fsm); // execute immediately
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: PDO_CONF.
|
|
*/
|
|
void ec_fsm_slave_config_state_pdo_conf(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
// TODO check for config here
|
|
|
|
if (ec_fsm_pdo_exec(fsm->fsm_pdo))
|
|
return;
|
|
|
|
if (!fsm->slave->config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
|
|
EC_WARN("PDO configuration failed on slave %u.\n",
|
|
fsm->slave->ring_position);
|
|
}
|
|
|
|
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;
|
|
uint8_t sync_index;
|
|
const ec_sync_t *sync;
|
|
const ec_sync_config_t *sync_config;
|
|
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_fmmu(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);
|
|
ec_datagram_zero(datagram);
|
|
|
|
for (i = 0; i < num_pdo_syncs; i++) {
|
|
sync_index = i + offset;
|
|
sync = &slave->sii.syncs[sync_index];
|
|
sync_config = &slave->config->sync_configs[sync_index];
|
|
size = ec_pdo_list_total_size(&sync_config->pdos);
|
|
ec_sync_page(sync, sync_index, size, sync_config->dir,
|
|
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 %u (datagram state %u).\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 %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_fmmu(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Check for FMMUs to be configured.
|
|
*/
|
|
void ec_fsm_slave_config_enter_fmmu(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_datagram_t *datagram = fsm->datagram;
|
|
unsigned int i;
|
|
const ec_fmmu_config_t *fmmu;
|
|
const ec_sync_t *sync;
|
|
|
|
if (!slave->config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
if (slave->base_fmmu_count < slave->config->used_fmmus) {
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
|
|
slave->ring_position, slave->base_fmmu_count,
|
|
slave->config->used_fmmus);
|
|
return;
|
|
}
|
|
|
|
if (!slave->base_fmmu_count) { // skip FMMU configuration
|
|
ec_fsm_slave_config_enter_dc_cycle(fsm);
|
|
return;
|
|
}
|
|
|
|
// configure FMMUs
|
|
ec_datagram_fpwr(datagram, slave->station_address,
|
|
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
|
|
ec_datagram_zero(datagram);
|
|
for (i = 0; i < slave->config->used_fmmus; i++) {
|
|
fmmu = &slave->config->fmmu_configs[i];
|
|
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
|
|
" %u!\n", slave->ring_position);
|
|
return;
|
|
}
|
|
ec_fmmu_config_page(fmmu, sync,
|
|
datagram->data + EC_FMMU_PAGE_SIZE * i);
|
|
}
|
|
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_slave_config_state_fmmu;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: FMMU.
|
|
*/
|
|
void ec_fsm_slave_config_state_fmmu(
|
|
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 FMMUs datagram for slave %u"
|
|
" (datagram state %u).\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 FMMUs of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_dc_cycle(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Check for DC to be configured.
|
|
*/
|
|
void ec_fsm_slave_config_enter_dc_cycle(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_datagram_t *datagram = fsm->datagram;
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_slave_config_t *config = slave->config;
|
|
|
|
if (!config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
if (config->dc_assign_activate) {
|
|
if (!slave->base_dc_supported || !slave->has_dc_system_time) {
|
|
EC_WARN("Slave %u seems not to support distributed clocks!\n",
|
|
slave->ring_position);
|
|
}
|
|
|
|
// set DC cycle times
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
|
|
EC_WRITE_U32(datagram->data, config->dc_sync_cycle_times[0]);
|
|
EC_WRITE_U32(datagram->data + 4, config->dc_sync_cycle_times[1]);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_slave_config_state_dc_cycle;
|
|
} else {
|
|
// DC are unused
|
|
ec_fsm_slave_config_enter_safeop(fsm);
|
|
}
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: DC CYCLE.
|
|
*/
|
|
void ec_fsm_slave_config_state_dc_cycle(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_datagram_t *datagram = fsm->datagram;
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_master_t *master = slave->master;
|
|
ec_slave_config_t *config = slave->config;
|
|
u64 start_time;
|
|
|
|
if (!config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
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 DC cycle times datagram for slave %u"
|
|
" (datagram state %u).\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 DC cycle times of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
// set DC start time
|
|
start_time = master->app_time + 100000000ULL; // now + X ns
|
|
// FIXME use slave's local system time here?
|
|
|
|
if (config->dc_sync_cycle_times[0]) {
|
|
// find correct phase
|
|
if (master->has_start_time) {
|
|
u32 cycle_time, shift_time, remainder;
|
|
u64 start, diff;
|
|
|
|
cycle_time = config->dc_sync_cycle_times[0];
|
|
shift_time = config->dc_sync_shift_times[0];
|
|
diff = start_time - master->app_start_time;
|
|
remainder = do_div(diff, cycle_time);
|
|
|
|
start = start_time + cycle_time - remainder + shift_time;
|
|
|
|
if (master->debug_level) {
|
|
EC_DBG("app_start_time=%llu\n", master->app_start_time);
|
|
EC_DBG(" start_time=%llu\n", start_time);
|
|
EC_DBG(" cycle_time=%u\n", cycle_time);
|
|
EC_DBG(" shift_time=%u\n", shift_time);
|
|
EC_DBG(" remainder=%u\n", remainder);
|
|
EC_DBG(" start=%llu\n", start);
|
|
}
|
|
start_time = start;
|
|
} else {
|
|
EC_WARN("No application time supplied. Cyclic start time will "
|
|
"not be in phase for slave %u.", slave->ring_position);
|
|
}
|
|
}
|
|
|
|
if (master->debug_level)
|
|
EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
|
|
slave->ring_position, start_time);
|
|
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
|
|
EC_WRITE_U64(datagram->data, start_time);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_slave_config_state_dc_start;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: DC START.
|
|
*/
|
|
void ec_fsm_slave_config_state_dc_start(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_datagram_t *datagram = fsm->datagram;
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_slave_config_t *config = slave->config;
|
|
|
|
if (!config) { // config removed in the meantime
|
|
ec_fsm_slave_config_reconfigure(fsm);
|
|
return;
|
|
}
|
|
|
|
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 DC start time datagram for slave %u"
|
|
" (datagram state %u).\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 DC start time of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
// assign sync unit to EtherCAT or PDI
|
|
ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
|
|
EC_WRITE_U16(datagram->data, config->dc_assign_activate);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_slave_config_state_dc_assign;
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: DC ASSIGN.
|
|
*/
|
|
void ec_fsm_slave_config_state_dc_assign(
|
|
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 DC activation datagram for slave %u"
|
|
" (datagram state %u).\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 DC cyclic operation state of slave %u: ",
|
|
slave->ring_position);
|
|
ec_datagram_print_wc_error(datagram);
|
|
return;
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_safeop(fsm);
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Request SAFEOP state.
|
|
*/
|
|
void ec_fsm_slave_config_enter_safeop(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
fsm->state = ec_fsm_slave_config_state_safeop;
|
|
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
|
|
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: SAFEOP.
|
|
*/
|
|
void ec_fsm_slave_config_state_safeop(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_master_t *master = fsm->slave->master;
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (ec_fsm_change_exec(fsm->fsm_change)) return;
|
|
|
|
if (!ec_fsm_change_success(fsm->fsm_change)) {
|
|
if (!fsm->fsm_change->spontaneous_change)
|
|
fsm->slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
return;
|
|
}
|
|
|
|
// slave is now in SAFEOP
|
|
|
|
if (master->debug_level) {
|
|
EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
|
|
}
|
|
|
|
if (fsm->slave->current_state == fsm->slave->requested_state) {
|
|
fsm->state = ec_fsm_slave_config_state_end; // successful
|
|
if (master->debug_level) {
|
|
EC_DBG("Finished configuration of slave %u.\n",
|
|
slave->ring_position);
|
|
}
|
|
return;
|
|
}
|
|
|
|
// set state to OP
|
|
fsm->state = ec_fsm_slave_config_state_op;
|
|
ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
|
|
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Slave configuration state: OP
|
|
*/
|
|
void ec_fsm_slave_config_state_op(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
ec_master_t *master = fsm->slave->master;
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (ec_fsm_change_exec(fsm->fsm_change)) return;
|
|
|
|
if (!ec_fsm_change_success(fsm->fsm_change)) {
|
|
if (!fsm->fsm_change->spontaneous_change)
|
|
slave->error_flag = 1;
|
|
fsm->state = ec_fsm_slave_config_state_error;
|
|
return;
|
|
}
|
|
|
|
// slave is now in OP
|
|
|
|
if (master->debug_level) {
|
|
EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
|
|
EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
|
|
}
|
|
|
|
fsm->state = ec_fsm_slave_config_state_end; // successful
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** Reconfigure the slave starting at INIT.
|
|
*/
|
|
void ec_fsm_slave_config_reconfigure(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_DBG("Slave configuration for slave %u detached during "
|
|
"configuration. Reconfiguring.", fsm->slave->ring_position);
|
|
}
|
|
|
|
ec_fsm_slave_config_enter_init(fsm); // reconfigure
|
|
}
|
|
|
|
/******************************************************************************
|
|
* Common state functions
|
|
*****************************************************************************/
|
|
|
|
/** State: ERROR.
|
|
*/
|
|
void ec_fsm_slave_config_state_error(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
}
|
|
|
|
/*****************************************************************************/
|
|
|
|
/** State: END.
|
|
*/
|
|
void ec_fsm_slave_config_state_end(
|
|
ec_fsm_slave_config_t *fsm /**< slave state machine */
|
|
)
|
|
{
|
|
}
|
|
|
|
/*****************************************************************************/
|