etherlabmaster: master/fsm_slave.c@2b9c78543663 (annotated)

1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	1	/******************************************************************************
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	2	*
2414 f35c7c8e6591 Replaced all mangled hg keywords. Florian Pose <fp@igh-essen.com> parents: 2181 diff changeset	3	* $Id$
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	4	*
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	6	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	8	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	11	* published by the Free Software Foundation.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	12	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	16	* Public License for more details.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	17	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	18	* You should have received a copy of the GNU General Public License along
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	21	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	22	* ---
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	23	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	24	* The license mentioned above concerns the source code only. Using the
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	27	*
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	28	*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	29
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	30	/** \file
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	31	* EtherCAT slave (SDO) state machine.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	32	*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	33
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	34	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	35
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	36	#include "globals.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	37	#include "master.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	38	#include "mailbox.h"
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	39	#include "slave_config.h"
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	40
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	41	#include "fsm_slave.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	42
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	43	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	44
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	45	void ec_fsm_slave_state_idle(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	46	void ec_fsm_slave_state_ready(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	47	int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	48	void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	49	int ec_fsm_slave_action_process_reg(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	50	void ec_fsm_slave_state_reg_request(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	51	int ec_fsm_slave_action_process_foe(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	52	void ec_fsm_slave_state_foe_request(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	53	int ec_fsm_slave_action_process_soe(ec_fsm_slave_t , ec_datagram_t );
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	54	void ec_fsm_slave_state_soe_request(ec_fsm_slave_t , ec_datagram_t );
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	55
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	56	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	57
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	58	/** Constructor.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	59	*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	60	void ec_fsm_slave_init(
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	61	ec_fsm_slave_t fsm, /< Slave state machine. /
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	62	ec_slave_t slave /< EtherCAT slave. /
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	63	)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	64	{
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	65	fsm->slave = slave;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	66	INIT_LIST_HEAD(&fsm->list); // mark as unlisted
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	67
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	68	fsm->state = ec_fsm_slave_state_idle;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	69	fsm->datagram = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	70	fsm->sdo_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	71	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	72	fsm->foe_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	73	fsm->soe_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	74
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	75	// Init sub-state-machines
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	76	ec_fsm_coe_init(&fsm->fsm_coe);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	77	ec_fsm_foe_init(&fsm->fsm_foe);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	78	ec_fsm_soe_init(&fsm->fsm_soe);
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	79	}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	80
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	81	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	82
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	83	/** Destructor.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	84	*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	85	void ec_fsm_slave_clear(
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	86	ec_fsm_slave_t fsm /< Master state machine. /
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	87	)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	88	{
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	89	// signal requests that are currently in operation
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	90
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	91	if (fsm->sdo_request) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	92	fsm->sdo_request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	93	wake_up_all(&fsm->slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	94	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	95
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	96	if (fsm->reg_request) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	97	fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	98	wake_up_all(&fsm->slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	99	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	100
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	101	if (fsm->foe_request) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	102	fsm->foe_request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	103	wake_up_all(&fsm->slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	104	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	105
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	106	if (fsm->soe_request) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	107	fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	108	wake_up_all(&fsm->slave->master->request_queue);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	109	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	110
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	111	// clear sub-state machines
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	112	ec_fsm_coe_clear(&fsm->fsm_coe);
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	113	ec_fsm_foe_clear(&fsm->fsm_foe);
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	114	ec_fsm_soe_clear(&fsm->fsm_soe);
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	115	}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	116
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	117	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	118
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	119	/** Executes the current state of the state machine.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	120	*
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	121	* \return 1 if \a datagram was used, else 0.
2017 4b16e2dce5fb Increment injection_seq on slave state changes Martin Troxler <ch1010277@ch10pc446> parents: 1930 diff changeset	122	*/
4b16e2dce5fb Increment injection_seq on slave state changes Martin Troxler <ch1010277@ch10pc446> parents: 1930 diff changeset	123	int ec_fsm_slave_exec(
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	124	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	125	ec_datagram_t datagram /< New datagram to use. /
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	126	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	127	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	128	int datagram_used;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	129
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	130	fsm->state(fsm, datagram);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	131
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	132	datagram_used = 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	133	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	134
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	135	if (datagram_used) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	136	fsm->datagram = datagram;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	137	} else {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	138	fsm->datagram = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	139	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	140
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	141	return datagram_used;
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	142	}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	143
1601 a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	144	/*****************************************************************************/
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	145
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	146	/** Sets the current state of the state machine to READY
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	147	*/
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	148	void ec_fsm_slave_set_ready(
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	149	ec_fsm_slave_t fsm /< Slave state machine. /
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	150	)
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	151	{
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	152	if (fsm->state == ec_fsm_slave_state_idle) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1878 diff changeset	153	EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	154	fsm->state = ec_fsm_slave_state_ready;
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	155	}
1601 a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	156	}
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	157
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	158	/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	159
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	160	/** Returns, if the FSM is currently not busy and ready to execute.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	161	*
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	162	* \return Non-zero if ready.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	163	*/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	164	int ec_fsm_slave_is_ready(
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	165	const 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	166	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	167	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	168	return 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	169	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	170
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	171	/******************************************************************************
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	172	* Slave state machine
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	173	*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	174
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	175	/** Slave state: IDLE.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	176	*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	177	void ec_fsm_slave_state_idle(
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	178	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	179	ec_datagram_t datagram /< Datagram to use. /
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	180	)
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	181	{
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	182	// do nothing
1601 a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	183	}
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	184
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	185	/*****************************************************************************/
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	186
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	187	/** Slave state: READY.
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	188	*/
a784812c787f master FSM enables slave FSM Martin Troxler <martin.troxler@komaxgroup.com> parents: 1598 diff changeset	189	void ec_fsm_slave_state_ready(
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	190	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	191	ec_datagram_t datagram /< Datagram to use. /
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	192	)
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	193	{
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	194	// Check for pending external SDO requests
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	195	if (ec_fsm_slave_action_process_sdo(fsm, datagram)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	196	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	197	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	198
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	199	// Check for pending external register requests
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	200	if (ec_fsm_slave_action_process_reg(fsm, datagram)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	201	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	202	}
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	203
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	204	// Check for pending FoE requests
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	205	if (ec_fsm_slave_action_process_foe(fsm, datagram)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	206	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	207	}
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	208
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	209	// Check for pending SoE requests
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	210	if (ec_fsm_slave_action_process_soe(fsm, datagram)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	211	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	212	}
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	213	}
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	214
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	215	/*****************************************************************************/
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	216
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	217	/** Check for pending SDO requests and process one.
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	218	*
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	219	* \return non-zero, if an SDO request is processed.
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	220	*/
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	221	int ec_fsm_slave_action_process_sdo(
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	222	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	223	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	224	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	225	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	226	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	227	ec_sdo_request_t *request;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	228
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	229	if (list_empty(&slave->sdo_requests)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	230	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	231	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	232
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	233	// 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	234	request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	235	list_del_init(&request->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	236
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	237	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	238	EC_SLAVE_WARN(slave, "Aborting SDO request,"
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	239	" slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	240	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	241	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	242	fsm->state = ec_fsm_slave_state_idle;
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	243	return 1;
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	244	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	245
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	246	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	247	EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	248	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	249	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	250	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	251	return 1;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	252	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	253
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	254	fsm->sdo_request = request;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	255	request->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	256
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	257	// Found pending SDO request. Execute it!
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	258	EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	259
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	260	// Start SDO transfer
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	261	fsm->state = ec_fsm_slave_state_sdo_request;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	262	ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	263	ec_fsm_coe_exec(&fsm->fsm_coe, datagram); // execute immediately
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	264	return 1;
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	265	}
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	266
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	267	/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	268
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	269	/** Slave state: SDO_REQUEST.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	270	*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	271	void ec_fsm_slave_state_sdo_request(
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	272	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	273	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	274	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	275	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	276	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	277	ec_sdo_request_t *request = fsm->sdo_request;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	278
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	279	if (ec_fsm_coe_exec(&fsm->fsm_coe, datagram)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	280	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	281	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	282
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	283	if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	284	EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	285	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	286	wake_up_all(&slave->master->request_queue);
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	287	fsm->sdo_request = NULL;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	288	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	289	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	290	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	291
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	292	EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	293
1583 017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests) Martin Troxler <martin.troxler@komaxgroup.com> parents: diff changeset	294	// SDO request finished
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	295	request->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	296	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	297	fsm->sdo_request = NULL;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	298	fsm->state = ec_fsm_slave_state_ready;
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	299	}
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	300
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	301	/*****************************************************************************/
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	302
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	303	/** Check for pending register requests and process one.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	304	*
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	305	* \return non-zero, if a register request is processed.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	306	*/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	307	int ec_fsm_slave_action_process_reg(
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	308	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	309	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	310	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	311	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	312	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	313	ec_reg_request_t *reg;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	314
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	315	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	316
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	317	if (slave->config) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	318	// search the first internal register request to be processed
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	319	list_for_each_entry(reg, &slave->config->reg_requests, list) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	320	if (reg->state == EC_INT_REQUEST_QUEUED) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	321	fsm->reg_request = reg;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	322	break;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	323	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	324	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	325	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	326
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	327	if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	328	// take the first external request to be processed
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	329	fsm->reg_request =
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	330	list_entry(slave->reg_requests.next, ec_reg_request_t, list);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	331	list_del_init(&fsm->reg_request->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	332	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	333
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	334	if (!fsm->reg_request) { // no register request to process
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	335	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	336	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	337
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	338	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	339	EC_SLAVE_WARN(slave, "Aborting register request,"
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	340	" slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	341	fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	342	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	343	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	344	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	345	return 1;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	346	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	347
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	348	// Found pending register request. Execute it!
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	349	EC_SLAVE_DBG(slave, 1, "Processing register request...\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	350
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	351	fsm->reg_request->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	352
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	353	// Start register access
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	354	if (fsm->reg_request->dir == EC_DIR_INPUT) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	355	ec_datagram_fprd(datagram, slave->station_address,
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	356	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	357	ec_datagram_zero(datagram);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	358	} else {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	359	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	360	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	361	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	362	fsm->reg_request->transfer_size);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	363	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	364	datagram->device_index = slave->device_index;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	365	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	366	return 1;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	367	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	368
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	369	/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	370
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	371	/** Slave state: Register request.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	372	*/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	373	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	374	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	375	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	376	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	377	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	378	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	379	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	380
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	381	if (!reg) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	382	// configuration was cleared in the meantime
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	383	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	384	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	385	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	386	}
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	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	389	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	390	" request datagram: ");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	391	ec_datagram_print_state(fsm->datagram);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	392	reg->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	393	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	394	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	395	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	396	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	397	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	398
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	399	if (fsm->datagram->working_counter == 1) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	400	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	401	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	402	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	403
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	404	reg->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	405	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	406	} else {
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	ec_datagram_print_state(fsm->datagram);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	409	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	410	" (working counter is %u).\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	411	fsm->datagram->working_counter);
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	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	415	fsm->reg_request = NULL;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	416	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	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	/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	420
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	421	/** 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	422	*
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	423	* \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	424	*/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	425	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	426	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	427	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	428	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	429	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	430	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	431	ec_foe_request_t *request;
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	if (list_empty(&slave->foe_requests)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	434	return 0;
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
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	437	// 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	438	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	439	list_del_init(&request->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	440
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	441	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	442	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	443	" slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	444	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	445	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	446	fsm->state = ec_fsm_slave_state_idle;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	447	return 1;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	448	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	449
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	450	request->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	451	fsm->foe_request = request;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	452
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	453	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	454
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	455	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	456	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	457	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	458	return 1;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	459	}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	460
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	461	/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	462
1597 491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	463	/** Slave state: FOE REQUEST.
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	464	*/
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	465	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	466	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	467	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	468	)
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	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	471	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	472
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	473	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	474	return;
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	475	}
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	476
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	477	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	478	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	479	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	480	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	481	fsm->foe_request = NULL;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	482	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	483	return;
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	484	}
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	485
491dea6f4fd7 Moved FOE request queue and fsm into slaves Martin Troxler <martin.troxler@komaxgroup.com> parents: 1596 diff changeset	486	// finished transferring FoE
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	487	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	488	" data.\n", request->data_size);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	489
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	490	request->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	491	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	492	fsm->foe_request = NULL;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	493	fsm->state = ec_fsm_slave_state_ready;
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	494	}
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	495
742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1608 diff changeset	496	/*****************************************************************************/
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	497
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	498	/** 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	499	*
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	500	* \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	501	*/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	502	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	503	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	504	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	505	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	506	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	507	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	508	ec_soe_request_t *req;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	509
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	510	if (list_empty(&slave->soe_requests)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	511	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	512	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	513
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	514	// 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	515	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	516	list_del_init(&req->list); // dequeue
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	517
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	518	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	519	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	520	" slave has error flag set.\n");
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	521	req->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	522	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	523	fsm->state = ec_fsm_slave_state_idle;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	524	return 1;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	525	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	526
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	527	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	528	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	529	req->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	530	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	531	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	532	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	533	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	534
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	535	fsm->soe_request = req;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	536	req->state = EC_INT_REQUEST_BUSY;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	537
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	538	// Found pending request. Execute it!
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	539	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	540
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	541	// Start SoE transfer
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	542	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	543	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	544	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	545	return 1;
1831 1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	546	}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	547
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	548	/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	549
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	550	/** Slave state: SOE_REQUEST.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	551	*/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	552	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	553	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	554	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	555	)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	556	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	557	ec_slave_t *slave = fsm->slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	558	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	559
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	560	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	561	return;
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	if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1878 diff changeset	565	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	566	request->state = EC_INT_REQUEST_FAILURE;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	567	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	568	fsm->soe_request = NULL;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	569	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	570	return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	571	}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	572
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1878 diff changeset	573	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	574
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	575	// SoE request finished
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	576	request->state = EC_INT_REQUEST_SUCCESS;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2414 diff changeset	577	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	578	fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	579	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	580	}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	581
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued... Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	582	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 03 Nov 2014 15:20:05 +0100
changeset 2589	2b9c78543663
parent 2414	f35c7c8e6591
child 2597	0e145bb05859
permissions	-rw-r--r--