diff --git a/master/fsm.c b/master/fsm.c
index 29218c8f7c4c54dec6cb7b041cbc05ffebddde27..00454fa69dc1bb90756c6ad5667c2ec2aec5f717 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -63,13 +63,12 @@ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
void ec_fsm_slavescan_eeprom_data2(ec_fsm_t *);
void ec_fsm_slavescan_end(ec_fsm_t *);
-void ec_fsm_slaveconf_start(ec_fsm_t *);
+void ec_fsm_slaveconf_init(ec_fsm_t *);
void ec_fsm_slaveconf_sync(ec_fsm_t *);
void ec_fsm_slaveconf_preop(ec_fsm_t *);
void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
-void ec_fsm_slaveconf_op2(ec_fsm_t *);
void ec_fsm_slaveconf_end(ec_fsm_t *);
void ec_fsm_sii_start_reading(ec_fsm_t *);
@@ -304,7 +303,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
printk(".\n");
fsm->slave = slave;
- fsm->slave_state = ec_fsm_slaveconf_start;
+ fsm->slave_state = ec_fsm_slaveconf_init;
fsm->change_new = EC_SLAVE_STATE_INIT;
fsm->change_state = ec_fsm_change_start;
fsm->master_state = ec_fsm_master_configure_slave;
@@ -1082,14 +1081,16 @@ void ec_fsm_slavescan_end(ec_fsm_t *fsm /**< finite state machine */)
*****************************************************************************/
/**
- Slave state: CONF.
+ Slave state: INIT.
*/
-void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
- ec_master_t *master = fsm->master;
ec_datagram_t *datagram = &fsm->datagram;
+ const ec_sync_t *sync;
+ ec_eeprom_sync_t *eeprom_sync, mbox_sync;
+ unsigned int j;
fsm->change_state(fsm); // execute state change state machine
@@ -1114,47 +1115,13 @@ void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
// check and reset CRC fault counters
//ec_slave_check_crc(slave);
-
- if (!slave->base_fmmu_count) { // no fmmus
- fsm->slave_state = ec_fsm_slaveconf_sync;
- fsm->slave_state(fsm); // execute immediately
- return;
- }
-
- // reset FMMUs
- ec_datagram_npwr(datagram, slave->station_address, 0x0600,
- EC_FMMU_SIZE * slave->base_fmmu_count);
- memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
- ec_master_queue_datagram(master, datagram);
- fsm->slave_state = ec_fsm_slaveconf_sync;
-}
-
-/*****************************************************************************/
-
-/**
- Slave state: SYNC.
- Configure sync managers.
-*/
-
-void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
- ec_slave_t *slave = fsm->slave;
- unsigned int j;
- const ec_sync_t *sync;
- ec_eeprom_sync_t *eeprom_sync, mbox_sync;
-
- if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
- slave->error_flag = 1;
- fsm->slave_state = ec_fsm_slaveconf_end;
- EC_ERR("Failed to reset FMMUs of slave %i.\n",
- slave->ring_position);
- return;
- }
+ // TODO!
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slaveconf_preop;
- fsm->slave_state(fsm); // execute immediately
+ fsm->change_new = EC_SLAVE_STATE_PREOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
return;
}
@@ -1211,17 +1178,16 @@ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(fsm->master, datagram);
- fsm->slave_state = ec_fsm_slaveconf_preop;
+ fsm->slave_state = ec_fsm_slaveconf_sync;
}
/*****************************************************************************/
/**
- Slave state: PREOP.
- Change slave state to PREOP.
+ Slave state: SYNC.
*/
-void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -1234,20 +1200,19 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
return;
}
+ fsm->slave_state = ec_fsm_slaveconf_preop;
fsm->change_new = EC_SLAVE_STATE_PREOP;
fsm->change_state = ec_fsm_change_start;
- fsm->slave_state = ec_fsm_slaveconf_fmmu;
fsm->change_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
- Slave state: FMMU.
- Configure FMMUs.
+ Slave state: PREOP.
*/
-void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
@@ -1278,7 +1243,9 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
if (!slave->base_fmmu_count) {
fsm->slave_state = ec_fsm_slaveconf_saveop;
- fsm->slave_state(fsm); // execute immediately
+ fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
return;
}
@@ -1292,22 +1259,20 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_datagram(master, datagram);
- fsm->slave_state = ec_fsm_slaveconf_saveop;
+ fsm->slave_state = ec_fsm_slaveconf_fmmu;
}
/*****************************************************************************/
/**
- Slave state: SAVEOP.
- Set slave state to SAVEOP.
+ Slave state: FMMU.
*/
-void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
- if (fsm->slave->base_fmmu_count && (datagram->state != EC_CMD_RECEIVED ||
- datagram->working_counter != 1)) {
+ if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_slaveconf_end;
EC_ERR("Failed to set FMMUs on slave %i.\n",
@@ -1316,7 +1281,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
}
// set state to SAVEOP
- fsm->slave_state = ec_fsm_slaveconf_op;
+ fsm->slave_state = ec_fsm_slaveconf_saveop;
fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@@ -1325,11 +1290,10 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
- Slave state: OP.
- Set slave state to OP.
+ Slave state: SAVEOP.
*/
-void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine
@@ -1348,7 +1312,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
}
// set state to OP
- fsm->slave_state = ec_fsm_slaveconf_op2;
+ fsm->slave_state = ec_fsm_slaveconf_op;
fsm->change_new = EC_SLAVE_STATE_OP;
fsm->change_state = ec_fsm_change_start;
fsm->change_state(fsm); // execute immediately
@@ -1357,11 +1321,10 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
- Slave state: OP2
- Executes the change state machine, until the OP state is set.
+ Slave state: OP
*/
-void ec_fsm_slaveconf_op2(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->change_state(fsm); // execute state change state machine