master/fsm_slave.c
author Gavin Lambert <gavinl@compacsort.com>
Tue, 14 Apr 2015 09:35:15 -0400
changeset 2620 0e4d098db815
parent 2597 0e145bb05859
child 2629 a2701af27fde
permissions -rw-r--r--
Abort requests started for slave_configs that don't have any actual slaves.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT slave (SDO) state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_slave.h"
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/*****************************************************************************/
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void ec_fsm_slave_state_idle(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_ready(ec_fsm_slave_t *, ec_datagram_t *);
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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *, ec_datagram_t *);
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int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *, ec_datagram_t *);
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int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *, ec_datagram_t *);
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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);
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int ec_fsm_slave_action_process_eoe(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_state_eoe_request(ec_fsm_slave_t *, ec_datagram_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_init(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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        ec_slave_t *slave /**< EtherCAT slave. */
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        )
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{
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    fsm->slave = slave;
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    INIT_LIST_HEAD(&fsm->list); // mark as unlisted
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    fsm->state = ec_fsm_slave_state_idle;
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    fsm->datagram = NULL;
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    fsm->sdo_request = NULL;
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    fsm->reg_request = NULL;
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    fsm->foe_request = NULL;
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    fsm->soe_request = NULL;
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    fsm->eoe_request = NULL;
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    // Init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe);
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    ec_fsm_foe_init(&fsm->fsm_foe);
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    ec_fsm_soe_init(&fsm->fsm_soe);
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    ec_fsm_eoe_init(&fsm->fsm_eoe);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_clear(
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        ec_fsm_slave_t *fsm /**< Master state machine. */
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        )
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{
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    // signal requests that are currently in operation
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    if (fsm->sdo_request) {
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        fsm->sdo_request->state = EC_INT_REQUEST_FAILURE;
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        wake_up_all(&fsm->slave->master->request_queue);
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    }
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    if (fsm->reg_request) {
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        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
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        wake_up_all(&fsm->slave->master->request_queue);
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    }
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    if (fsm->foe_request) {
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        fsm->foe_request->state = EC_INT_REQUEST_FAILURE;
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        wake_up_all(&fsm->slave->master->request_queue);
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    }
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    if (fsm->soe_request) {
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        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
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        wake_up_all(&fsm->slave->master->request_queue);
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    }
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    if (fsm->eoe_request) {
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        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
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        wake_up_all(&fsm->slave->master->request_queue);
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    }
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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    ec_fsm_foe_clear(&fsm->fsm_foe);
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    ec_fsm_soe_clear(&fsm->fsm_soe);
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    ec_fsm_eoe_clear(&fsm->fsm_eoe);
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * \return 1 if \a datagram was used, else 0.
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 */
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int ec_fsm_slave_exec(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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        ec_datagram_t *datagram /**< New datagram to use. */
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        )
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{
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    int datagram_used;
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    fsm->state(fsm, datagram);
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    datagram_used = fsm->state != ec_fsm_slave_state_idle &&
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        fsm->state != ec_fsm_slave_state_ready;
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    if (datagram_used) {
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        fsm->datagram = datagram;
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    } else {
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        fsm->datagram = NULL;
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    }
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    return datagram_used;
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}
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/*****************************************************************************/
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/** Sets the current state of the state machine to READY
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 */
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void ec_fsm_slave_set_ready(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    if (fsm->state == ec_fsm_slave_state_idle) {
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        EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
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        fsm->state = ec_fsm_slave_state_ready;
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    }
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}
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/*****************************************************************************/
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/** Returns, if the FSM is currently not busy and ready to execute.
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 *
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 * \return Non-zero if ready.
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 */
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int ec_fsm_slave_is_ready(
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        const ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    return fsm->state == ec_fsm_slave_state_ready;
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}
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/******************************************************************************
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 * Slave state machine
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 *****************************************************************************/
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/** Slave state: IDLE.
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 */
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void ec_fsm_slave_state_idle(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    // do nothing
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}
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/*****************************************************************************/
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/** Slave state: READY.
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 */
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void ec_fsm_slave_state_ready(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    // Check for pending external SDO requests
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    if (ec_fsm_slave_action_process_sdo(fsm, datagram)) {
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        return;
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   207
    }
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   208
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    // Check for pending external register requests
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   210
    if (ec_fsm_slave_action_process_reg(fsm, datagram)) {
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   211
        return;
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   212
    }
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   213
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    // Check for pending FoE requests
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   215
    if (ec_fsm_slave_action_process_foe(fsm, datagram)) {
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   216
        return;
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   217
    }
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   219
    // Check for pending SoE requests
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   220
    if (ec_fsm_slave_action_process_soe(fsm, datagram)) {
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   221
        return;
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   222
    }
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   223
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   224
    // Check for pending EoE IP parameter requests
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   225
    if (ec_fsm_slave_action_process_eoe(fsm, datagram)) {
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   226
        return;
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   227
    }
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   228
}
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   229
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   230
/*****************************************************************************/
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   231
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   232
/** Check for pending SDO requests and process one.
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   233
 *
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   234
 * \return non-zero, if an SDO request is processed.
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   235
 */
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   236
int ec_fsm_slave_action_process_sdo(
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   237
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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   238
        ec_datagram_t *datagram /**< Datagram to use. */
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   239
        )
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{
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   241
    ec_slave_t *slave = fsm->slave;
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   242
    ec_sdo_request_t *request;
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   243
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   244
    if (list_empty(&slave->sdo_requests)) {
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   245
        return 0;
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   246
    }
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   247
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    // take the first request to be processed
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    request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
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    list_del_init(&request->list); // dequeue
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   251
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    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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        EC_SLAVE_WARN(slave, "Aborting SDO request,"
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   254
                " slave has error flag set.\n");
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        request->state = EC_INT_REQUEST_FAILURE;
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   256
        wake_up_all(&slave->master->request_queue);
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        fsm->state = ec_fsm_slave_state_idle;
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        return 0;
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   259
    }
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   260
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   261
    if (slave->current_state == EC_SLAVE_STATE_INIT) {
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   262
        EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
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   263
        request->state = EC_INT_REQUEST_FAILURE;
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   264
        wake_up_all(&slave->master->request_queue);
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        fsm->state = ec_fsm_slave_state_idle;
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   266
        return 0;
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   267
    }
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   268
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   269
    fsm->sdo_request = request;
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   270
    request->state = EC_INT_REQUEST_BUSY;
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   271
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   272
    // Found pending SDO request. Execute it!
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   273
    EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
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   274
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   275
    // Start SDO transfer
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   276
    fsm->state = ec_fsm_slave_state_sdo_request;
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   277
    ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
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   278
    ec_fsm_coe_exec(&fsm->fsm_coe, datagram); // execute immediately
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   279
    return 1;
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   280
}
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   281
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/*****************************************************************************/
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   283
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/** Slave state: SDO_REQUEST.
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 */
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   286
void ec_fsm_slave_state_sdo_request(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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   288
        ec_datagram_t *datagram /**< Datagram to use. */
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   289
        )
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   290
{
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   291
    ec_slave_t *slave = fsm->slave;
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    ec_sdo_request_t *request = fsm->sdo_request;
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   293
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   294
    if (ec_fsm_coe_exec(&fsm->fsm_coe, datagram)) {
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   295
        return;
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   296
    }
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   297
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   298
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
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   299
        EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
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   300
        request->state = EC_INT_REQUEST_FAILURE;
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   301
        wake_up_all(&slave->master->request_queue);
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742607c464c4 Removed tabulators.
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   302
        fsm->sdo_request = NULL;
2589
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   303
        fsm->state = ec_fsm_slave_state_ready;
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   304
        return;
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   305
    }
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   306
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   307
    EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
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diff changeset
   308
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017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
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   309
    // SDO request finished
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   310
    request->state = EC_INT_REQUEST_SUCCESS;
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   311
    wake_up_all(&slave->master->request_queue);
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diff changeset
   312
    fsm->sdo_request = NULL;
1804
742607c464c4 Removed tabulators.
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   313
    fsm->state = ec_fsm_slave_state_ready;
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   314
}
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
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   315
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   316
/*****************************************************************************/
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diff changeset
   317
2589
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   318
/** Check for pending register requests and process one.
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   319
 *
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   320
 * \return non-zero, if a register request is processed.
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   321
 */
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   322
int ec_fsm_slave_action_process_reg(
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diff changeset
   323
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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   324
        ec_datagram_t *datagram /**< Datagram to use. */
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diff changeset
   325
        )
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   326
{
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   327
    ec_slave_t *slave = fsm->slave;
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diff changeset
   328
    ec_reg_request_t *reg;
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   329
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   330
    fsm->reg_request = NULL;
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diff changeset
   331
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diff changeset
   332
    if (slave->config) {
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diff changeset
   333
        // search the first internal register request to be processed
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diff changeset
   334
        list_for_each_entry(reg, &slave->config->reg_requests, list) {
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diff changeset
   335
            if (reg->state == EC_INT_REQUEST_QUEUED) {
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diff changeset
   336
                fsm->reg_request = reg;
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diff changeset
   337
                break;
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diff changeset
   338
            }
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diff changeset
   339
        }
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diff changeset
   340
    }
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diff changeset
   341
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diff changeset
   342
    if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {
2b9c78543663 Reverted default branch to stable-1.5.
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diff changeset
   343
        // take the first external request to be processed
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diff changeset
   344
        fsm->reg_request =
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diff changeset
   345
            list_entry(slave->reg_requests.next, ec_reg_request_t, list);
2b9c78543663 Reverted default branch to stable-1.5.
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diff changeset
   346
        list_del_init(&fsm->reg_request->list); // dequeue
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diff changeset
   347
    }
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diff changeset
   348
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diff changeset
   349
    if (!fsm->reg_request) { // no register request to process
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diff changeset
   350
        return 0;
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diff changeset
   351
    }
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diff changeset
   352
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diff changeset
   353
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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diff changeset
   354
        EC_SLAVE_WARN(slave, "Aborting register request,"
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diff changeset
   355
                " slave has error flag set.\n");
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diff changeset
   356
        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
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diff changeset
   357
        wake_up_all(&slave->master->request_queue);
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diff changeset
   358
        fsm->reg_request = NULL;
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diff changeset
   359
        fsm->state = ec_fsm_slave_state_idle;
2597
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
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diff changeset
   360
        return 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
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diff changeset
   361
    }
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diff changeset
   362
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diff changeset
   363
    // Found pending register request. Execute it!
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diff changeset
   364
    EC_SLAVE_DBG(slave, 1, "Processing register request...\n");
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diff changeset
   365
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diff changeset
   366
    fsm->reg_request->state = EC_INT_REQUEST_BUSY;
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diff changeset
   367
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diff changeset
   368
    // Start register access
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diff changeset
   369
    if (fsm->reg_request->dir == EC_DIR_INPUT) {
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diff changeset
   370
        ec_datagram_fprd(datagram, slave->station_address,
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diff changeset
   371
                fsm->reg_request->address, fsm->reg_request->transfer_size);
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diff changeset
   372
        ec_datagram_zero(datagram);
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diff changeset
   373
    } else {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   374
        ec_datagram_fpwr(datagram, slave->station_address,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   375
                fsm->reg_request->address, fsm->reg_request->transfer_size);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   376
        memcpy(datagram->data, fsm->reg_request->data,
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   377
                fsm->reg_request->transfer_size);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   378
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   379
    datagram->device_index = slave->device_index;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   380
    fsm->state = ec_fsm_slave_state_reg_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   381
    return 1;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   382
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   383
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   384
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   385
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   386
/** Slave state: Register request.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   387
 */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   388
void ec_fsm_slave_state_reg_request(
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   389
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   390
        ec_datagram_t *datagram /**< Datagram to use. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   391
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   392
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   393
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   394
    ec_reg_request_t *reg = fsm->reg_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   395
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   396
    if (!reg) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   397
        // configuration was cleared in the meantime
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   398
        fsm->state = ec_fsm_slave_state_ready;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   399
        fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   400
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   401
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   402
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   403
    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   404
        EC_SLAVE_ERR(slave, "Failed to receive register"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   405
                " request datagram: ");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   406
        ec_datagram_print_state(fsm->datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   407
        reg->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   408
        wake_up_all(&slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   409
        fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   410
        fsm->state = ec_fsm_slave_state_ready;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   411
        return;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   412
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   413
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   414
    if (fsm->datagram->working_counter == 1) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   415
        if (reg->dir == EC_DIR_INPUT) { // read request
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   416
            memcpy(reg->data, fsm->datagram->data, reg->transfer_size);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   417
        }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   418
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   419
        reg->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   420
        EC_SLAVE_DBG(slave, 1, "Register request successful.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   421
    } else {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   422
        reg->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   423
        ec_datagram_print_state(fsm->datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   424
        EC_SLAVE_ERR(slave, "Register request failed"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   425
                " (working counter is %u).\n",
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   426
                fsm->datagram->working_counter);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   427
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   428
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   429
    wake_up_all(&slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   430
    fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   431
    fsm->state = ec_fsm_slave_state_ready;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   432
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   433
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   434
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   435
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   436
/** Check for pending FoE requests and process one.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   437
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   438
 * \return non-zero, if an FoE request is processed.
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   439
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   440
int ec_fsm_slave_action_process_foe(
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   441
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   442
        ec_datagram_t *datagram /**< Datagram to use. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   443
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   444
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   445
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   446
    ec_foe_request_t *request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   447
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   448
    if (list_empty(&slave->foe_requests)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   449
        return 0;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   450
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   451
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   452
    // take the first request to be processed
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   453
    request = list_entry(slave->foe_requests.next, ec_foe_request_t, list);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   454
    list_del_init(&request->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   455
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   456
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   457
        EC_SLAVE_WARN(slave, "Aborting FoE request,"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   458
                " slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   459
        request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   460
        wake_up_all(&slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   461
        fsm->state = ec_fsm_slave_state_idle;
2597
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   462
        return 0;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   463
    }
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   464
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   465
    request->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   466
    fsm->foe_request = request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   467
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   468
    EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   469
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   470
    fsm->state = ec_fsm_slave_state_foe_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   471
    ec_fsm_foe_transfer(&fsm->fsm_foe, slave, request);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   472
    ec_fsm_foe_exec(&fsm->fsm_foe, datagram);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   473
    return 1;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   474
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   475
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   476
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   477
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   478
/** Slave state: FOE REQUEST.
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   479
 */
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   480
void ec_fsm_slave_state_foe_request(
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   481
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   482
        ec_datagram_t *datagram /**< Datagram to use. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   483
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   484
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   485
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   486
    ec_foe_request_t *request = fsm->foe_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   487
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   488
    if (ec_fsm_foe_exec(&fsm->fsm_foe, datagram)) {
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   489
        return;
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   490
    }
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   491
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   492
    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   493
        EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   494
        request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   495
        wake_up_all(&slave->master->request_queue);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   496
        fsm->foe_request = NULL;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   497
        fsm->state = ec_fsm_slave_state_ready;
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   498
        return;
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   499
    }
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   500
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   501
    // finished transferring FoE
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   502
    EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   503
            " data.\n", request->data_size);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   504
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   505
    request->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   506
    wake_up_all(&slave->master->request_queue);
1597
491dea6f4fd7 Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1596
diff changeset
   507
    fsm->foe_request = NULL;
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1608
diff changeset
   508
    fsm->state = ec_fsm_slave_state_ready;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1608
diff changeset
   509
}
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1608
diff changeset
   510
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1608
diff changeset
   511
/*****************************************************************************/
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   512
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   513
/** Check for pending SoE requests and process one.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   514
 *
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   515
 * \return non-zero, if a request is processed.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   516
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   517
int ec_fsm_slave_action_process_soe(
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   518
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   519
        ec_datagram_t *datagram /**< Datagram to use. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   520
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   521
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   522
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   523
    ec_soe_request_t *req;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   524
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   525
    if (list_empty(&slave->soe_requests)) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   526
        return 0;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   527
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   528
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   529
    // take the first request to be processed
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   530
    req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   531
    list_del_init(&req->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   532
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   533
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   534
        EC_SLAVE_WARN(slave, "Aborting SoE request,"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   535
                " slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   536
        req->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   537
        wake_up_all(&slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   538
        fsm->state = ec_fsm_slave_state_idle;
2597
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   539
        return 0;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   540
    }
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   541
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   542
    if (slave->current_state == EC_SLAVE_STATE_INIT) {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   543
        EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   544
        req->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   545
        wake_up_all(&slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   546
        fsm->state = ec_fsm_slave_state_idle;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   547
        return 0;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   548
    }
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   549
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   550
    fsm->soe_request = req;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   551
    req->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   552
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   553
    // Found pending request. Execute it!
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   554
    EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   555
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   556
    // Start SoE transfer
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   557
    fsm->state = ec_fsm_slave_state_soe_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   558
    ec_fsm_soe_transfer(&fsm->fsm_soe, slave, req);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   559
    ec_fsm_soe_exec(&fsm->fsm_soe, datagram); // execute immediately
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   560
    return 1;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   561
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   562
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   563
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   564
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   565
/** Slave state: SOE_REQUEST.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   566
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   567
void ec_fsm_slave_state_soe_request(
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   568
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   569
        ec_datagram_t *datagram /**< Datagram to use. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   570
        )
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   571
{
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   572
    ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   573
    ec_soe_request_t *request = fsm->soe_request;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   574
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   575
    if (ec_fsm_soe_exec(&fsm->fsm_soe, datagram)) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   576
        return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   577
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   578
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   579
    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   580
        EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   581
        request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   582
        wake_up_all(&slave->master->request_queue);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   583
        fsm->soe_request = NULL;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   584
        fsm->state = ec_fsm_slave_state_ready;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   585
        return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   586
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   587
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   588
    EC_SLAVE_DBG(slave, 1, "Finished SoE request.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   589
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   590
    // SoE request finished
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   591
    request->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 2414
diff changeset
   592
    wake_up_all(&slave->master->request_queue);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   593
    fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   594
    fsm->state = ec_fsm_slave_state_ready;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   595
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   596
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   597
/*****************************************************************************/
2597
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   598
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   599
/** Check for pending EoE IP parameter requests and process one.
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   600
 *
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   601
 * \return non-zero, if a request is processed.
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   602
 */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   603
int ec_fsm_slave_action_process_eoe(
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   604
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   605
        ec_datagram_t *datagram /**< Datagram to use. */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   606
        )
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   607
{
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   608
    ec_slave_t *slave = fsm->slave;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   609
    ec_eoe_request_t *request;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   610
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   611
    if (list_empty(&slave->eoe_requests)) {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   612
        return 0;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   613
    }
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   614
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   615
    // take the first request to be processed
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   616
    request = list_entry(slave->eoe_requests.next, ec_eoe_request_t, list);
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   617
    list_del_init(&request->list); // dequeue
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   618
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   619
    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   620
        EC_SLAVE_WARN(slave, "Aborting EoE request,"
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   621
                " slave has error flag set.\n");
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   622
        request->state = EC_INT_REQUEST_FAILURE;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   623
        wake_up_all(&slave->master->request_queue);
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   624
        fsm->state = ec_fsm_slave_state_idle;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   625
        return 0;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   626
    }
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   627
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   628
    if (slave->current_state == EC_SLAVE_STATE_INIT) {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   629
        EC_SLAVE_WARN(slave, "Aborting EoE request, slave is in INIT.\n");
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   630
        request->state = EC_INT_REQUEST_FAILURE;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   631
        wake_up_all(&slave->master->request_queue);
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   632
        fsm->state = ec_fsm_slave_state_idle;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   633
        return 0;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   634
    }
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   635
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   636
    fsm->eoe_request = request;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   637
    request->state = EC_INT_REQUEST_BUSY;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   638
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   639
    // Found pending request. Execute it!
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   640
    EC_SLAVE_DBG(slave, 1, "Processing EoE request...\n");
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   641
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   642
    // Start EoE command
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   643
    fsm->state = ec_fsm_slave_state_eoe_request;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   644
    ec_fsm_eoe_set_ip_param(&fsm->fsm_eoe, slave, request);
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   645
    ec_fsm_eoe_exec(&fsm->fsm_eoe, datagram); // execute immediately
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   646
    return 1;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   647
}
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   648
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   649
/*****************************************************************************/
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   650
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   651
/** Slave state: EOE_REQUEST.
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   652
 */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   653
void ec_fsm_slave_state_eoe_request(
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   654
        ec_fsm_slave_t *fsm, /**< Slave state machine. */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   655
        ec_datagram_t *datagram /**< Datagram to use. */
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   656
        )
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   657
{
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   658
    ec_slave_t *slave = fsm->slave;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   659
    ec_eoe_request_t *req = fsm->eoe_request;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   660
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   661
    if (ec_fsm_eoe_exec(&fsm->fsm_eoe, datagram)) {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   662
        return;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   663
    }
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   664
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   665
    if (ec_fsm_eoe_success(&fsm->fsm_eoe)) {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   666
		req->state = EC_INT_REQUEST_SUCCESS;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   667
		EC_SLAVE_DBG(slave, 1, "Finished EoE request.\n");
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   668
    }
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   669
	else {
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   670
        req->state = EC_INT_REQUEST_FAILURE;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   671
        EC_SLAVE_ERR(slave, "Failed to process EoE request.\n");
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   672
	}
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   673
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   674
    wake_up_all(&slave->master->request_queue);
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   675
    fsm->eoe_request = NULL;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   676
    fsm->state = ec_fsm_slave_state_ready;
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   677
}
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   678
0e145bb05859 Implemented EoE Set IP parameter request via command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   679
/*****************************************************************************/