From 240cbbf58b5de3925c504458ac7bcdc1e289214e Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 27 Oct 2006 12:45:22 +0000
Subject: [PATCH] Explicit use of slave configuration FSM in
ecrt_master_activate() and ecrt_master_release().
---
master/fsm.c | 54 +++++++++++++++++++++++++++++++++++-------------
master/fsm.h | 6 ++++++
master/master.c | 55 ++++++++++++++++++++++++++++---------------------
3 files changed, 78 insertions(+), 37 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 8829b0f5..cb87b7ce 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -68,6 +68,7 @@ void ec_fsm_slavescan_datalink(ec_fsm_t *);
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
void ec_fsm_slavescan_eeprom_data(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 *);
@@ -136,6 +137,17 @@ int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state(fsm);
+ return ec_fsm_running(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)
+{
return fsm->master_state != ec_fsm_master_end
&& fsm->master_state != ec_fsm_master_error;
}
@@ -303,28 +315,25 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
|| !slave->online
|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
|| (slave->current_state == slave->requested_state
- && (slave->configured
- || slave->current_state == EC_SLAVE_STATE_INIT))) continue;
+ && slave->configured)) continue;
if (master->debug_level) {
ec_state_string(slave->current_state, old_state);
- if (!slave->configured
- && slave->current_state != EC_SLAVE_STATE_INIT) {
- EC_INFO("Reconfiguring slave %i (%s).\n",
- slave->ring_position, old_state);
- }
- else if (slave->current_state != slave->requested_state) {
+ if (slave->current_state != slave->requested_state) {
ec_state_string(slave->requested_state, new_state);
- EC_INFO("Changing state of slave %i (%s -> %s).\n",
- slave->ring_position, old_state, new_state);
+ EC_DBG("Changing state of slave %i (%s -> %s).\n",
+ slave->ring_position, old_state, new_state);
+ }
+ else if (!slave->configured) {
+ EC_DBG("Reconfiguring slave %i (%s).\n",
+ slave->ring_position, old_state);
}
}
- fsm->slave = slave;
- fsm->slave_state = ec_fsm_slaveconf_init;
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fsm->master_state = ec_fsm_master_configure_slave;
- fsm->master_state(fsm); // execute immediately
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slaveconf_start;
+ fsm->slave_state(fsm); // execute immediately
return;
}
@@ -1192,6 +1201,23 @@ end:
* slave configuration state machine
*****************************************************************************/
+/**
+ Slave configuration state: START.
+*/
+
+void ec_fsm_slaveconf_start(ec_fsm_t *fsm /**< finite state machine */)
+{
+ if (fsm->master->debug_level) {
+ EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
+ }
+
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+ ec_fsm_change_exec(&fsm->fsm_change);
+ fsm->slave_state = ec_fsm_slaveconf_init;
+}
+
+/*****************************************************************************/
+
/**
Slave configuration state: INIT.
*/
diff --git a/master/fsm.h b/master/fsm.h
index 31e5fd78..ea80290d 100644
--- a/master/fsm.h
+++ b/master/fsm.h
@@ -86,8 +86,14 @@ int ec_fsm_init(ec_fsm_t *, ec_master_t *);
void ec_fsm_clear(ec_fsm_t *);
int ec_fsm_exec(ec_fsm_t *);
+int ec_fsm_running(ec_fsm_t *);
int ec_fsm_success(ec_fsm_t *);
+// FIXME
+void ec_fsm_slaveconf_start(ec_fsm_t *);
+void ec_fsm_slave_end(ec_fsm_t *);
+void ec_fsm_slave_error(ec_fsm_t *);
+
/*****************************************************************************/
#endif
diff --git a/master/master.c b/master/master.c
index 98d158aa..cc1c8945 100644
--- a/master/master.c
+++ b/master/master.c
@@ -373,14 +373,11 @@ int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
ecrt_master_receive(master);
}
- // finish running FSM
- while (ec_fsm_exec(&master->fsm)) {
- ec_master_sync_io(master);
- }
-
- if (!ec_fsm_success(&master->fsm)) {
- EC_ERR("Master state machine failure!\n");
- goto out_idle;
+ // finish running master FSM
+ if (ec_fsm_running(&master->fsm)) {
+ while (ec_fsm_exec(&master->fsm)) {
+ ec_master_sync_io(master);
+ }
}
if (master->debug_level) {
@@ -427,14 +424,26 @@ void ec_master_leave_operation_mode(ec_master_t *master
ecrt_master_receive(master);
}
+ // finish running master FSM
+ if (ec_fsm_running(fsm)) {
+ while (ec_fsm_exec(fsm)) {
+ ec_master_sync_io(master);
+ }
+ }
+
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
- }
- // execute master FSM to deactivate slaves
- while (ec_fsm_exec(fsm)) {
- ec_master_sync_io(master);
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slaveconf_start;
+
+ do {
+ fsm->slave_state(fsm);
+ ec_master_sync_io(master);
+ }
+ while (fsm->slave_state != ec_fsm_slave_end
+ && fsm->slave_state != ec_fsm_slave_error);
}
ec_master_destroy_domains(master);
@@ -1319,19 +1328,19 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
domain_offset += domain->data_size;
}
- // execute master FSM until termination
- while (ec_fsm_exec(fsm)) {
- ec_master_sync_io(master);
- }
+ // configure all slaves
+ list_for_each_entry(slave, &master->slaves, list) {
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slaveconf_start;
- if (!ec_fsm_success(fsm)) {
- EC_ERR("Error in master state machine.\n");
- return -1;
- }
+ do {
+ fsm->slave_state(fsm);
+ ec_master_sync_io(master);
+ }
+ while (fsm->slave_state != ec_fsm_slave_end
+ && fsm->slave_state != ec_fsm_slave_error);
- // check, if all slaves have been configured
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->error_flag || !slave->online) {
+ if (fsm->slave_state == ec_fsm_slave_error) {
EC_ERR("Failed to configure slave %i!\n", slave->ring_position);
return -1;
}
--
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