From c38ca18f9bfd677980dfa876ff84bd356e2f5a93 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 19 Jul 2006 12:57:41 +0000
Subject: [PATCH] Better master state machines.
---
master/fsm.c | 248 ++++++++++++++++++++++++++-------------------------
1 file changed, 127 insertions(+), 121 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 14fb8dec..0823b2d3 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -46,15 +46,13 @@
void ec_fsm_master_start(ec_fsm_t *);
void ec_fsm_master_broadcast(ec_fsm_t *);
-void ec_fsm_master_proc_states(ec_fsm_t *);
-void ec_fsm_master_scan(ec_fsm_t *);
-void ec_fsm_master_states(ec_fsm_t *);
+void ec_fsm_master_read_states(ec_fsm_t *);
void ec_fsm_master_validate_vendor(ec_fsm_t *);
void ec_fsm_master_validate_product(ec_fsm_t *);
-void ec_fsm_master_reconfigure(ec_fsm_t *);
-void ec_fsm_master_address(ec_fsm_t *);
-void ec_fsm_master_conf(ec_fsm_t *);
-void ec_fsm_master_eeprom(ec_fsm_t *);
+void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
+void ec_fsm_master_configure_slave(ec_fsm_t *);
+void ec_fsm_master_scan_slaves(ec_fsm_t *);
+void ec_fsm_master_write_eeprom(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
void ec_fsm_slave_read_state(ec_fsm_t *);
@@ -265,7 +263,7 @@ void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->slave_state = ec_fsm_slave_start_reading;
- fsm->master_state = ec_fsm_master_scan;
+ fsm->master_state = ec_fsm_master_scan_slaves;
fsm->master_state(fsm); // execute immediately
return;
}
@@ -274,7 +272,74 @@ void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
ec_master_queue_datagram(master, &fsm->datagram);
- fsm->master_state = ec_fsm_master_states;
+ fsm->master_state = ec_fsm_master_read_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master action: PROC_STATES.
+ Processes the slave states.
+*/
+
+void ec_fsm_master_action_process_states(ec_fsm_t *fsm
+ /**< finite state machine */
+ )
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave;
+
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->error_flag ||
+ !slave->online ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->master_state = ec_fsm_master_configure_slave;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (master->mode == EC_MASTER_MODE_FREERUN) {
+ // nothing to configure. check for pending EEPROM write operations.
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (!slave->new_eeprom_data) continue;
+
+ if (!slave->online || slave->error_flag) {
+ kfree(slave->new_eeprom_data);
+ slave->new_eeprom_data = NULL;
+ EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
+ slave->ring_position);
+ continue;
+ }
+
+ // found pending EEPROM write operation. execute it!
+ EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
+ fsm->sii_offset = 0x0000;
+ memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_writing;
+ fsm->slave = slave;
+ fsm->master_state = ec_fsm_master_write_eeprom;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+ }
+
+ // nothing to do. restart master state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
@@ -289,18 +354,20 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- // have all states been read?
+ // is there another slave to query?
if (slave->list.next != &master->slaves) {
// process next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
0x0130, 2);
ec_master_queue_datagram(master, &fsm->datagram);
- fsm->master_state = ec_fsm_master_states;
+ fsm->master_state = ec_fsm_master_read_states;
return;
}
- // all slave stated read; check, if a bus validation has to be done
+ // all slave states read
+
+ // check, if a bus validation has to be done
if (fsm->master_validation) {
fsm->master_validation = 0;
list_for_each_entry(slave, &master->slaves, list) {
@@ -318,8 +385,7 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
}
}
- fsm->master_state = ec_fsm_master_proc_states;
- fsm->master_state(fsm); // execute immediately
+ ec_fsm_master_action_process_states(fsm);
}
/*****************************************************************************/
@@ -329,7 +395,7 @@ void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
Fetches the AL- and online state of a slave.
*/
-void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
@@ -375,71 +441,6 @@ void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
-/**
- Master state: PROC_STATES.
- Processes the slave states.
-*/
-
-void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_master_t *master = fsm->master;
- ec_slave_t *slave;
-
- // check if any slaves are not in the state, they're supposed to be
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->error_flag ||
- !slave->online ||
- slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
- slave->current_state == slave->requested_state) continue;
-
- EC_INFO("Changing state of slave %i from ", slave->ring_position);
- ec_print_states(slave->current_state);
- printk(" to ");
- ec_print_states(slave->requested_state);
- printk(".\n");
-
- fsm->slave = slave;
- fsm->slave_state = ec_fsm_slave_conf;
- fsm->change_new = EC_SLAVE_STATE_INIT;
- fsm->change_state = ec_fsm_change_start;
- fsm->master_state = ec_fsm_master_conf;
- fsm->master_state(fsm); // execute immediately
- return;
- }
-
- if (master->mode == EC_MASTER_MODE_FREERUN) {
- // nothing to configure. check for pending EEPROM write operations.
- list_for_each_entry(slave, &master->slaves, list) {
- if (!slave->new_eeprom_data) continue;
-
- if (!slave->online || slave->error_flag) {
- kfree(slave->new_eeprom_data);
- slave->new_eeprom_data = NULL;
- EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
- slave->ring_position);
- continue;
- }
-
- // found pending EEPROM write operation. execute it!
- EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
- fsm->sii_offset = 0x0000;
- memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
- fsm->sii_mode = 1;
- fsm->sii_state = ec_fsm_sii_start_writing;
- fsm->slave = slave;
- fsm->master_state = ec_fsm_master_eeprom;
- fsm->master_state(fsm); // execute immediately
- return;
- }
- }
-
- // nothing to do. restart master state machine.
- fsm->master_state = ec_fsm_master_start;
- fsm->master_state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
/**
Master state: VALIDATE_VENDOR.
Validates the vendor ID of a slave.
@@ -479,6 +480,37 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
+/**
+ Master action: ADDRESS.
+ Looks for slave, that have lost their configuration and writes
+ their station address, so that they can be reconfigured later.
+*/
+
+void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+
+ while (fsm->slave->online) {
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ }
+
+ EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
+
+ // write station address
+ ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(datagram->data, fsm->slave->station_address);
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->master_state = ec_fsm_master_rewrite_addresses;
+}
+
+/*****************************************************************************/
+
/**
Master state: VALIDATE_PRODUCT.
Validates the product ID of a slave.
@@ -513,7 +545,8 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
// have all states been validated?
if (slave->list.next == &fsm->master->slaves) {
fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
- fsm->master_state = ec_fsm_master_reconfigure;
+ // start writing addresses to offline slaves
+ ec_fsm_master_action_addresses(fsm);
return;
}
@@ -528,43 +561,14 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/
-/**
- Master state: RECONFIGURE.
- Looks for slave, that have lost their configuration and writes
- their station address, so that they can be reconfigured later.
-*/
-
-void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- while (fsm->slave->online) {
- if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
- fsm->master_state = ec_fsm_master_start;
- fsm->master_state(fsm); // execute immediately
- return;
- }
- // check next slave
- fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
- }
-
- EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
-
- // write station address
- ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
- EC_WRITE_U16(datagram->data, fsm->slave->station_address);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->master_state = ec_fsm_master_address;
-}
-
-/*****************************************************************************/
-
/**
Master state: ADDRESS.
Checks, if the new station address has been written to the slave.
*/
-void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
+ /**< finite state machine */
+ )
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = &fsm->datagram;
@@ -582,8 +586,8 @@ void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
// check next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
- fsm->master_state = ec_fsm_master_reconfigure;
- fsm->master_state(fsm); // execute immediately
+ // Write new station address to slave
+ ec_fsm_master_action_addresses(fsm);
}
/*****************************************************************************/
@@ -593,7 +597,7 @@ void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
Executes the sub-statemachine for the scanning of a slave.
*/
-void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
@@ -689,12 +693,14 @@ void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
Starts configuring a slave.
*/
-void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_master_configure_slave(ec_fsm_t *fsm
+ /**< finite state machine */
+ )
{
fsm->slave_state(fsm); // execute slave's state machine
if (fsm->slave_state != ec_fsm_slave_end) return;
- fsm->master_state = ec_fsm_master_proc_states;
- fsm->master_state(fsm); // execute immediately
+
+ ec_fsm_master_action_process_states(fsm);
}
/*****************************************************************************/
@@ -703,7 +709,7 @@ void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
Master state: EEPROM.
*/
-void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
@@ -736,7 +742,7 @@ void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
slave->new_eeprom_data = NULL;
// restart master state machine.
- fsm->master_state = ec_fsm_master_start;
+ fsm->master_state = ec_fsm_master_start; // TODO: Scan slaves!
fsm->master_state(fsm); // execute immediately
return;
}
--
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