Skip to content
Snippets Groups Projects
Commit b6990c9f authored by Florian Pose's avatar Florian Pose
Browse files

Avoid duplicate reconfiguration.

parent 7e6d56a0
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
master/fsm_master.c
+ 1
− 5
View file @ b6990c9f
......@@ -242,7 +242,7 @@ void ec_fsm_master_state_broadcast(
if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes of slave memory!\n",
size);
master->slave_count = 0; // FIXME avoid scanning!
master->slave_count = 0; // TODO avoid retrying scan!
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
......@@ -526,10 +526,6 @@ void ec_fsm_master_action_configure(
slave->force_config ? " (forced)" : "");
}
// configuration will be done immediately; therefore reset the
// force flag
slave->force_config = 0;
fsm->idle = 0;
fsm->state = ec_fsm_master_state_configure_slave;
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
......
master/fsm_slave_config.c
+ 114
− 119
View file @ b6990c9f
......@@ -31,10 +31,10 @@
*
*****************************************************************************/
/**
\file
EtherCAT slave configuration state machine.
*/
/** \file
*
* EtherCAT slave configuration state machine.
*/
/*****************************************************************************/
......@@ -73,7 +73,8 @@ void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
/** Constructor.
*/
void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machine */
void ec_fsm_slave_config_init(
ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_datagram_t *datagram /**< datagram structure to use */
)
{
......@@ -90,7 +91,9 @@ void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, /**< slave state machi
/** Destructor.
*/
void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machine */)
void ec_fsm_slave_config_clear(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// clear sub state machines
ec_fsm_change_clear(&fsm->fsm_change);
......@@ -101,11 +104,10 @@ void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm /**< slave state machi
/*****************************************************************************/
/**
* Start slave configuration state machine.
/** Start slave configuration state machine.
*/
void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state machine */
void ec_fsm_slave_config_start(
ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_slave_t *slave /**< slave to configure */
)
{
......@@ -116,10 +118,11 @@ void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, /**< slave state mach
/*****************************************************************************/
/**
\return false, if state machine has terminated
*/
int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
* \return false, if state machine has terminated
*/
int ec_fsm_slave_config_running(
const ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
return fsm->state != ec_fsm_slave_config_state_end
&& fsm->state != ec_fsm_slave_config_state_error;
......@@ -127,14 +130,16 @@ int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm /**< slave stat
/*****************************************************************************/
/**
Executes the current state of the state machine.
If the state machine's datagram is not sent or received yet, the execution
of the state machine is delayed to the next cycle.
\return false, if state machine has terminated
*/
int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*
* \return false, if state machine has terminated
*/
int ec_fsm_slave_config_exec(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
......@@ -149,10 +154,11 @@ int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm /**< slave state machine
/*****************************************************************************/
/**
\return true, if the state machine terminated gracefully
*/
int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave state machine */)
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_slave_config_success(
const ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
return fsm->state == ec_fsm_slave_config_state_end;
}
......@@ -161,15 +167,19 @@ int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm /**< slave stat
* Slave configuration state machine
*****************************************************************************/
/**
Slave configuration state: START.
*/
void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** Slave configuration state: START.
*/
void ec_fsm_slave_config_state_start(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
}
// configuration will be done immediately; therefore reset the
// force flag
fsm->slave->force_config = 0;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
ec_fsm_change_exec(&fsm->fsm_change);
......@@ -178,11 +188,11 @@ void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
Slave configuration state: INIT.
*/
void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** Slave configuration state: INIT.
*/
void ec_fsm_slave_config_state_init(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
......@@ -201,10 +211,6 @@ void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state
EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
}
// check and reset CRC fault counters
//ec_slave_check_crc(slave);
// TODO: Implement state machine for CRC checking.
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slave_config_enter_mbox_sync(fsm);
return;
......@@ -224,12 +230,11 @@ void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
Slave configuration state: CLEAR FMMU.
*/
void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
/**< slave state machine */)
/** Slave configuration state: CLEAR FMMU.
*/
void ec_fsm_slave_config_state_clear_fmmus(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
......@@ -257,10 +262,8 @@ void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *fsm
/*****************************************************************************/
/**
* Check for mailbox sync managers to be configured.
/** 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 */
)
......@@ -341,11 +344,11 @@ void ec_fsm_slave_config_enter_mbox_sync(
/*****************************************************************************/
/**
Slave configuration state: SYNC.
*/
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** Slave configuration state: SYNC.
*/
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;
......@@ -375,11 +378,11 @@ void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *fsm /**< slave s
/*****************************************************************************/
/**
* Request PREOP state.
/** Request PREOP state.
*/
void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
void ec_fsm_slave_config_enter_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
fsm->state = ec_fsm_slave_config_state_preop;
ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
......@@ -388,11 +391,11 @@ void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
Slave configuration state: PREOP.
*/
void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** Slave configuration state: PREOP.
*/
void ec_fsm_slave_config_state_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->slave->master;
......@@ -433,11 +436,11 @@ void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
* Check for Sdo configurations to be applied.
/** Check for Sdo configurations to be applied.
*/
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave state machine */)
void ec_fsm_slave_config_enter_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
......@@ -458,10 +461,8 @@ void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave st
/*****************************************************************************/
/**
Slave configuration state: SDO_CONF.
*/
/** Slave configuration state: SDO_CONF.
*/
void ec_fsm_slave_config_state_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
......@@ -492,10 +493,8 @@ void ec_fsm_slave_config_state_sdo_conf(
/*****************************************************************************/
/**
* Check for Pdo sync managers to be configured.
/** 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 */
)
......@@ -543,11 +542,11 @@ void ec_fsm_slave_config_enter_pdo_sync(
/*****************************************************************************/
/**
* Configure Pdo sync managers.
/** Configure Pdo sync managers.
*/
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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;
......@@ -580,10 +579,8 @@ void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave st
/*****************************************************************************/
/**
Slave configuration state: PDO_MAPPING.
*/
/** Slave configuration state: PDO_MAPPING.
*/
void ec_fsm_slave_config_state_pdo_mapping(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
......@@ -606,10 +603,8 @@ void ec_fsm_slave_config_state_pdo_mapping(
/*****************************************************************************/
/**
Slave configuration state: PDO_ASSIGN.
*/
/** Slave configuration state: PDO_ASSIGN.
*/
void ec_fsm_slave_config_state_pdo_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
......@@ -629,11 +624,11 @@ void ec_fsm_slave_config_state_pdo_assign(
/*****************************************************************************/
/**
* Check for FMMUs to be configured.
/** Check for FMMUs to be configured.
*/
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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;
......@@ -678,11 +673,11 @@ void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
Slave configuration state: FMMU.
*/
void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** 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;
......@@ -712,11 +707,11 @@ void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *fsm /**< slave state
/*****************************************************************************/
/**
* Request SAFEOP state.
/** Request SAFEOP state.
*/
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
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);
......@@ -725,11 +720,11 @@ void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *fsm /**< slave stat
/*****************************************************************************/
/**
Slave configuration state: SAFEOP.
*/
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** 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;
......@@ -766,11 +761,11 @@ void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *fsm /**< slave stat
/*****************************************************************************/
/**
Slave configuration state: OP
*/
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** 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;
......@@ -798,21 +793,21 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *fsm /**< slave state ma
* Common state functions
*****************************************************************************/
/**
State: ERROR.
*/
void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *fsm /**< slave state machine */)
/** 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 */)
/** State: END.
*/
void ec_fsm_slave_config_state_end(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
}
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment