diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 68a83a0d25c86e43a35f9c4d8b8d10585451bc33..8f89e13c9b2b5d328cc36b255c221b804ff96cbf 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -52,7 +52,7 @@ ec_domain_t *domain1 = NULL;
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
// data fields
-#if 0
+#if 1
void *r_inputs;
void *r_outputs;
#endif
@@ -81,7 +81,7 @@ void run(unsigned long data)
// process data
//k_pos = EC_READ_U32(r_ssi);
- //EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00);
+ EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00);
// send
ecrt_master_run(master);
@@ -121,7 +121,9 @@ void release_lock(void *data)
int __init init_mini_module(void)
{
- // ec_slave_t *slave;
+#if 0
+ ec_slave_t *slave;
+#endif
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
@@ -147,7 +149,7 @@ int __init init_mini_module(void)
}
#endif
-#if 0
+#if 1
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
printk(KERN_ERR "PDO registration failed!\n");
diff --git a/master/fsm.c b/master/fsm.c
index b5aff0817b26b573622447061289456667843378..8829b0f52a903afd9fef52084a86ba7bce7a488b 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -48,6 +48,7 @@
void ec_fsm_master_start(ec_fsm_t *);
void ec_fsm_master_broadcast(ec_fsm_t *);
void ec_fsm_master_read_states(ec_fsm_t *);
+void ec_fsm_master_acknowledge(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_rewrite_addresses(ec_fsm_t *);
@@ -321,7 +322,7 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
fsm->slave = slave;
fsm->slave_state = ec_fsm_slaveconf_init;
- ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_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
return;
@@ -507,6 +508,37 @@ void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
slave->current_state = new_state;
}
+ // check, if new slave state has to be acknowledged
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
+ ec_fsm_change_ack(&fsm->fsm_change, slave);
+ ec_fsm_change_exec(&fsm->fsm_change);
+ fsm->master_state = ec_fsm_master_acknowledge;
+ return;
+ }
+
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: ACKNOWLEDGE
+*/
+
+void ec_fsm_master_acknowledge(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+
+ if (!ec_fsm_change_success(&fsm->fsm_change)) {
+ fsm->slave->error_flag = 1;
+ EC_ERR("Failed to acknowledge state change on slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_error;
+ return;
+ }
+
ec_fsm_master_action_next_slave_state(fsm);
}
@@ -903,8 +935,10 @@ void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
slave->current_state = EC_READ_U8(datagram->data);
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
- slave->ring_position, slave->current_state);
+ char state_str[EC_STATE_STRING_SIZE];
+ ec_state_string(slave->current_state, state_str);
+ EC_WARN("Slave %i has state error bit set (%s)!\n",
+ slave->ring_position, state_str);
}
// read base data
@@ -1200,7 +1234,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
if (!slave->base_sync_count) { // no sync managers
fsm->slave_state = ec_fsm_slaveconf_preop;
- ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1276,7 +1310,7 @@ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
}
fsm->slave_state = ec_fsm_slaveconf_preop;
- ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
@@ -1320,7 +1354,8 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
if (!slave->base_fmmu_count) { // skip FMMU configuration
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fsm->slave_state = ec_fsm_slaveconf_saveop;
- ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_start(&fsm->fsm_change, slave,
+ EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1370,7 +1405,7 @@ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
- ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
return;
}
@@ -1411,7 +1446,7 @@ void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
// set state to SAVEOP
fsm->slave_state = ec_fsm_slaveconf_saveop;
- ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+ ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
@@ -1451,7 +1486,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
// set state to OP
fsm->slave_state = ec_fsm_slaveconf_op;
- ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+ ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
}
diff --git a/master/fsm_change.c b/master/fsm_change.c
index d236be97bc9c66752b880926b7b5e08e65ec9d89..eecf0da7a65dfd5b397e8691b5af0e143f661be9 100644
--- a/master/fsm_change.c
+++ b/master/fsm_change.c
@@ -44,14 +44,15 @@
/*****************************************************************************/
-void ec_fsm_change_start(ec_fsm_change_t *);
-void ec_fsm_change_check(ec_fsm_change_t *);
-void ec_fsm_change_status(ec_fsm_change_t *);
-void ec_fsm_change_code(ec_fsm_change_t *);
-void ec_fsm_change_ack(ec_fsm_change_t *);
-void ec_fsm_change_check_ack(ec_fsm_change_t *);
-void ec_fsm_change_end(ec_fsm_change_t *);
-void ec_fsm_change_error(ec_fsm_change_t *);
+void ec_fsm_change_state_start(ec_fsm_change_t *);
+void ec_fsm_change_state_check(ec_fsm_change_t *);
+void ec_fsm_change_state_status(ec_fsm_change_t *);
+void ec_fsm_change_state_code(ec_fsm_change_t *);
+void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
+void ec_fsm_change_state_ack(ec_fsm_change_t *);
+void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
+void ec_fsm_change_state_end(ec_fsm_change_t *);
+void ec_fsm_change_state_error(ec_fsm_change_t *);
/*****************************************************************************/
@@ -80,17 +81,34 @@ void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
- Resets the state machine.
+ Starts the change state machine.
*/
-void ec_fsm_change(ec_fsm_change_t *fsm, /**< finite state machine */
- ec_slave_t *slave, /**< EtherCAT slave */
- ec_slave_state_t state /**< requested state */
- )
+void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_slave_state_t state /**< requested state */
+ )
{
+ fsm->mode = EC_FSM_CHANGE_MODE_FULL;
fsm->slave = slave;
fsm->requested_state = state;
- fsm->state = ec_fsm_change_start;
+ fsm->state = ec_fsm_change_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+ Starts the change state machine to only acknowlegde a slave's state.
+*/
+
+void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
+ ec_slave_t *slave /**< EtherCAT slave */
+ )
+{
+ fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
+ fsm->slave = slave;
+ fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
+ fsm->state = ec_fsm_change_state_start_ack;
}
/*****************************************************************************/
@@ -104,8 +122,8 @@ int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
- return fsm->state != ec_fsm_change_end
- && fsm->state != ec_fsm_change_error;
+ return fsm->state != ec_fsm_change_state_end
+ && fsm->state != ec_fsm_change_state_error;
}
/*****************************************************************************/
@@ -117,7 +135,7 @@ int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
{
- return fsm->state == ec_fsm_change_end;
+ return fsm->state == ec_fsm_change_state_end;
}
/******************************************************************************
@@ -128,18 +146,20 @@ int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
Change state: START.
*/
-void ec_fsm_change_start(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_start(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
fsm->take_time = 1;
+ fsm->old_state = fsm->slave->current_state;
// write new state to slave
ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
EC_WRITE_U16(datagram->data, fsm->requested_state);
ec_master_queue_datagram(fsm->slave->master, datagram);
- fsm->state = ec_fsm_change_check;
+ fsm->state = ec_fsm_change_state_check;
}
/*****************************************************************************/
@@ -148,13 +168,14 @@ void ec_fsm_change_start(ec_fsm_change_t *fsm /**< finite state machine */)
Change state: CHECK.
*/
-void ec_fsm_change_check(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_check(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to send state datagram to slave %i!\n",
fsm->slave->ring_position);
return;
@@ -169,7 +190,7 @@ void ec_fsm_change_check(ec_fsm_change_t *fsm /**< finite state machine */)
if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, state_str);
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to set state %s on slave %i: Slave did not"
" respond.\n", state_str, fsm->slave->ring_position);
return;
@@ -187,7 +208,7 @@ void ec_fsm_change_check(ec_fsm_change_t *fsm /**< finite state machine */)
// read AL status from slave
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
- fsm->state = ec_fsm_change_status;
+ fsm->state = ec_fsm_change_state_status;
}
/*****************************************************************************/
@@ -196,14 +217,15 @@ void ec_fsm_change_check(ec_fsm_change_t *fsm /**< finite state machine */)
Change state: STATUS.
*/
-void ec_fsm_change_status(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_status(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to check state 0x%02X on slave %i.\n",
fsm->requested_state, slave->ring_position);
return;
@@ -218,35 +240,49 @@ void ec_fsm_change_status(ec_fsm_change_t *fsm /**< finite state machine */)
if (slave->current_state == fsm->requested_state) {
// state has been set successfully
- fsm->state = ec_fsm_change_end;
+ fsm->state = ec_fsm_change_state_end;
return;
}
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- // state change error
+ if (slave->current_state != fsm->old_state) { // state changed
char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
+
+ slave->error_flag = 1;
ec_state_string(fsm->requested_state, req_state);
ec_state_string(slave->current_state, cur_state);
- EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
- req_state, slave->ring_position, cur_state);
- // fetch AL status error code
- ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
- ec_master_queue_datagram(fsm->slave->master, datagram);
- fsm->state = ec_fsm_change_code;
+
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ // state change error
+ EC_ERR("Failed to set %s state,"
+ " slave %i refused state change (%s).\n",
+ req_state, slave->ring_position, cur_state);
+ // fetch AL status error code
+ ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_change_state_code;
+ return;
+ }
+
+ // state change to unrequested state
+ EC_ERR("Slave %i changed to unrequested state %s!\n",
+ slave->ring_position, cur_state);
+ fsm->state = ec_fsm_change_state_error;
return;
}
+ // still old state
+
if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
// timeout while checking
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, state_str);
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Timeout while setting state %s on slave %i.\n",
state_str, slave->ring_position);
return;
}
- // still old state: check again
+ // check again
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
}
@@ -297,10 +333,10 @@ const ec_code_msg_t al_status_messages[] = {
Change state: CODE.
*/
-void ec_fsm_change_code(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_code(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
- ec_slave_t *slave = fsm->slave;
uint32_t code;
const ec_code_msg_t *al_msg;
@@ -322,10 +358,25 @@ void ec_fsm_change_code(ec_fsm_change_t *fsm /**< finite state machine */)
}
// acknowledge "old" slave state
+ ec_fsm_change_state_start_ack(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: START ACK.
+*/
+
+void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
+ /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_datagram_t *datagram = fsm->datagram;
+
ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
EC_WRITE_U16(datagram->data, slave->current_state);
ec_master_queue_datagram(fsm->slave->master, datagram);
- fsm->state = ec_fsm_change_ack;
+ fsm->state = ec_fsm_change_state_ack;
}
/*****************************************************************************/
@@ -334,14 +385,14 @@ void ec_fsm_change_code(ec_fsm_change_t *fsm /**< finite state machine */)
Change state: ACK.
*/
-void ec_fsm_change_ack(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Reception of state ack datagram failed.\n");
return;
}
@@ -351,7 +402,7 @@ void ec_fsm_change_ack(ec_fsm_change_t *fsm /**< finite state machine */)
// read new AL status
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
- fsm->state = ec_fsm_change_check_ack;
+ fsm->state = ec_fsm_change_state_check_ack;
}
/*****************************************************************************/
@@ -360,14 +411,15 @@ void ec_fsm_change_ack(ec_fsm_change_t *fsm /**< finite state machine */)
Change state: CHECK ACK.
*/
-void ec_fsm_change_check_ack(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Reception of state ack check datagram failed.\n");
return;
}
@@ -382,7 +434,12 @@ void ec_fsm_change_check_ack(ec_fsm_change_t *fsm /**< finite state machine */)
if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, state_str);
- fsm->state = ec_fsm_change_error;
+ if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {
+ fsm->state = ec_fsm_change_state_error;
+ }
+ else { // EC_FSM_CHANGE_MODE_ACK_ONLY
+ fsm->state = ec_fsm_change_state_end;
+ }
EC_INFO("Acknowledged state %s on slave %i.\n",
state_str, slave->ring_position);
return;
@@ -392,7 +449,7 @@ void ec_fsm_change_check_ack(ec_fsm_change_t *fsm /**< finite state machine */)
// timeout while checking
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, state_str);
- fsm->state = ec_fsm_change_error;
+ fsm->state = ec_fsm_change_state_error;
EC_ERR("Timeout while acknowledging state %s on slave %i.\n",
state_str, slave->ring_position);
return;
@@ -409,7 +466,8 @@ void ec_fsm_change_check_ack(ec_fsm_change_t *fsm /**< finite state machine */)
State: ERROR.
*/
-void ec_fsm_change_error(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_error(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
}
@@ -419,7 +477,8 @@ void ec_fsm_change_error(ec_fsm_change_t *fsm /**< finite state machine */)
State: END.
*/
-void ec_fsm_change_end(ec_fsm_change_t *fsm /**< finite state machine */)
+void ec_fsm_change_state_end(ec_fsm_change_t *fsm
+ /**< finite state machine */)
{
}
diff --git a/master/fsm_change.h b/master/fsm_change.h
index 2f0f0c2fff69566ff80d8962753ac035937c8056..527416390b109ed71175f3da5d34ec49e1daa524 100644
--- a/master/fsm_change.h
+++ b/master/fsm_change.h
@@ -48,6 +48,18 @@
/*****************************************************************************/
+/**
+ Mode of the change state machine.
+*/
+
+typedef enum {
+ EC_FSM_CHANGE_MODE_FULL, /**< full state change */
+ EC_FSM_CHANGE_MODE_ACK_ONLY /**< only state acknowledgement */
+}
+ec_fsm_change_mode_t;
+
+/*****************************************************************************/
+
typedef struct ec_fsm_change ec_fsm_change_t; /**< \see ec_fsm_change */
/**
@@ -60,7 +72,9 @@ struct ec_fsm_change
ec_datagram_t *datagram; /**< datagram used in the state machine */
void (*state)(ec_fsm_change_t *); /**< slave state change state function */
+ ec_fsm_change_mode_t mode; /**< full state change, or ack only. */
ec_slave_state_t requested_state; /**< input: state */
+ ec_slave_state_t old_state; /**< prior slave state */
unsigned long jiffies_start; /**< change timer */
uint8_t take_time; /**< take sending timestamp */
};
@@ -70,7 +84,8 @@ struct ec_fsm_change
void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *);
void ec_fsm_change_clear(ec_fsm_change_t *);
-void ec_fsm_change(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
+void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
+void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *);
int ec_fsm_change_exec(ec_fsm_change_t *);
int ec_fsm_change_success(ec_fsm_change_t *);