Moved Pdo sync manager configuration before Pdo assignment in slave

configuration state machine.

documentation/graphs/fsm_slave_conf.dot

@@ -34,20 +34,26 @@ digraph slaveconf {
     //preop -> preop
     //preop -> error
     preop -> end [fontname="Helvetica",label="PREOP\nrequested"]
+    preop -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
     preop -> enter_sdo_conf [weight=10]
 
     enter_sdo_conf [shape=point,label=""]
-    enter_sdo_conf -> enter_safeop [fontname="Helvetica",label="No slave\nconfig attached"]
-    enter_sdo_conf -> enter_pdo_assign [fontname="Helvetica",label="No Sdo\nconfigurations"]
+    enter_sdo_conf -> enter_pdo_sync [fontname="Helvetica",label="No Sdo\nconfigurations"]
     enter_sdo_conf -> sdo_conf [weight=10]
 
     sdo_conf [fontname="Helvetica"]
     //sdo_conf -> sdo_conf
     //sdo_conf -> error
-    sdo_conf -> enter_pdo_assign [weight=10]
+    sdo_conf -> enter_pdo_sync [weight=10]
 
-    enter_pdo_assign [shape=point,label=""]
-    enter_pdo_assign -> pdo_assign [weight=10]
+    enter_pdo_sync [shape=point,label=""]
+    enter_pdo_sync -> enter_safeop [fontname="Helvetica",label="No Pdos"]
+    enter_pdo_sync -> pdo_sync [weight=10]
+
+    pdo_sync [fontname="Helvetica"]
+    //pdo_sync -> pdo_sync
+    //pdo_sync -> error
+    pdo_sync -> pdo_assign [weight=10]
 
     pdo_assign [fontname="Helvetica"]
     //pdo_assign -> pdo_assign
@@ -57,16 +63,7 @@ digraph slaveconf {
     pdo_mapping [fontname="Helvetica"]
     //pdo_mapping -> pdo_mapping
     //pdo_mapping -> error
-    pdo_mapping -> enter_pdo_sync [weight=10]
-
-    enter_pdo_sync [shape=point,label=""]
-    enter_pdo_sync -> pdo_sync [weight=10]
-    enter_pdo_sync -> enter_fmmu [fontname="Helvetica",label="No Pdos"]
-
-    pdo_sync [fontname="Helvetica"]
-    //pdo_sync -> pdo_sync
-    //pdo_sync -> error
-    pdo_sync -> enter_fmmu [weight=10]
+    pdo_mapping -> enter_fmmu [weight=10]
 
     enter_fmmu [shape=point,label=""]
     enter_fmmu -> enter_safeop [fontname="Helvetica",label="No FMMUs\nto configure"]

master/fsm_slave_config.c

@@ -52,9 +52,9 @@ void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_assign(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_mapping(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
@@ -62,8 +62,8 @@ void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_enter_pdo_assign(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_pdo_assign(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
 
@@ -415,12 +415,18 @@ void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *fsm /**< slave state
     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 %i.\n",
+            EC_DBG("Finished configuration of slave %u.\n",
                    slave->ring_position);
         }
         return;
     }
 
+    if (!slave->config) {
+        EC_DBG("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);
 }
 
@@ -434,15 +440,9 @@ void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave st
 {
     ec_slave_t *slave = fsm->slave;
 
-    if (!slave->config) {
-        EC_DBG("Slave %u is not configured.\n", slave->ring_position);
-        ec_fsm_slave_config_enter_safeop(fsm);
-        return;
-    }
-
     // No CoE configuration to be applied?
     if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
-        ec_fsm_slave_config_enter_pdo_assign(fsm);
+        ec_fsm_slave_config_enter_pdo_sync(fsm);
         return;
     }
 
@@ -486,71 +486,6 @@ void ec_fsm_slave_config_state_sdo_conf(
     }
 
     // All Sdos are now configured.
-    ec_fsm_slave_config_enter_pdo_assign(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Check for alternate Pdo assignments to be applied.
- */
-
-void ec_fsm_slave_config_enter_pdo_assign(
-        ec_fsm_slave_config_t *fsm /**< slave state machine */
-        )
-{
-    // start applying alternate Pdo assignments
-    fsm->state = ec_fsm_slave_config_state_pdo_assign;
-    ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
-    ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: PDO_ASSIGN.
-*/
-
-void ec_fsm_slave_config_state_pdo_assign(
-        ec_fsm_slave_config_t *fsm /**< slave state machine */
-        )
-{
-    if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
-
-    if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
-        EC_ERR("Pdo assignment failed for slave %u.\n",
-                fsm->slave->ring_position);
-        fsm->slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_config_state_error;
-        return;
-    }
-
-    // Start configuring Pdo mapping
-    fsm->state = ec_fsm_slave_config_state_pdo_mapping;
-    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
-    ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
-   Slave configuration state: PDO_MAPPING.
-*/
-
-void ec_fsm_slave_config_state_pdo_mapping(
-        ec_fsm_slave_config_t *fsm /**< slave state machine */
-        )
-{
-    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
-
-    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
-        EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
-                fsm->slave->ring_position);
-        fsm->slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_config_state_error;
-        return;
-    }
-
     ec_fsm_slave_config_enter_pdo_sync(fsm);
 }
 
@@ -566,30 +501,32 @@ void ec_fsm_slave_config_enter_pdo_sync(
 {
     ec_slave_t *slave = fsm->slave;
     ec_datagram_t *datagram = fsm->datagram;
-    unsigned int i, offset, num_syncs;
+    unsigned int i, offset, num_pdo_syncs;
     const ec_sync_t *sync;
     ec_direction_t dir;
     uint16_t size;
 
-    if (!slave->sii.sync_count) {
-        ec_fsm_slave_config_enter_fmmu(fsm);
-        return;
-    }
-
     if (slave->sii.mailbox_protocols) {
         offset = 2; // slave has mailboxes
     } else {
         offset = 0;
     }
-    num_syncs = slave->sii.sync_count - offset;
+
+    if (slave->sii.sync_count <= offset) {
+        // no Pdo sync managers to configure
+        ec_fsm_slave_config_enter_safeop(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_syncs);
-    memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_syncs);
+            EC_SYNC_PAGE_SIZE * num_pdo_syncs);
+    memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
 
-    for (i = 0; i < num_syncs; i++) {
+    for (i = 0; i < num_pdo_syncs; i++) {
         sync = &slave->sii.syncs[i + offset];
         dir = ec_sync_direction(sync);
         size = ec_pdo_list_total_size(&slave->config->pdos[dir]);
@@ -631,6 +568,71 @@ void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *fsm /**< slave st
         return;
     }
 
+    ec_fsm_slave_config_enter_pdo_assign(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ * Check for alternate Pdo assignments to be applied.
+ */
+
+void ec_fsm_slave_config_enter_pdo_assign(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    // start applying alternate Pdo assignments
+    fsm->state = ec_fsm_slave_config_state_pdo_assign;
+    ec_fsm_pdo_assign_start(&fsm->fsm_pdo_assign, fsm->slave);
+    ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PDO_ASSIGN.
+*/
+
+void ec_fsm_slave_config_state_pdo_assign(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_pdo_assign_exec(&fsm->fsm_pdo_assign)) return;
+
+    if (!ec_fsm_pdo_assign_success(&fsm->fsm_pdo_assign)) {
+        EC_ERR("Pdo assignment failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    // Start configuring Pdo mapping
+    fsm->state = ec_fsm_slave_config_state_pdo_mapping;
+    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_mapping, fsm->slave);
+    ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+   Slave configuration state: PDO_MAPPING.
+*/
+
+void ec_fsm_slave_config_state_pdo_mapping(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_mapping)) return;
+
+    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_mapping)) {
+        EC_ERR("Configuration of Pdo mapping failed for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
     ec_fsm_slave_config_enter_fmmu(fsm);
 }