master/fsm_slave.c
author Florian Pose <fp@igh-essen.com>
Fri, 05 Mar 2010 13:44:57 +0100
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child 1878 8f37abf260cf
permissions -rw-r--r--
TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 "fsm_slave.h"
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/*****************************************************************************/
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void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
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void ec_fsm_slave_state_ready(ec_fsm_slave_t *);
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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);
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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
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int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);
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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);
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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);
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void ec_fsm_slave_state_soe_request(ec_fsm_slave_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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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->slave = slave;
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    fsm->datagram = datagram;
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    fsm->datagram->data_size = 0;
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    if (slave->master->debug_level)
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        EC_DBG("Init FSM for slave %u...\n", slave->ring_position);
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    fsm->state = ec_fsm_slave_state_idle;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
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    ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
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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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    // 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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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 */
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void ec_fsm_slave_exec(
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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->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return;
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    }
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    fsm->state(fsm);
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    return;
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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_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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        if (fsm->slave->master->debug_level) {
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            EC_DBG("Slave %u ready for requests.\n",
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                    fsm->slave->ring_position);
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        }
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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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 * 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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        )
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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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        )
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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))
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        return;
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    // Check for pending FoE requests
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    if (ec_fsm_slave_action_process_foe(fsm))
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        return;
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    // Check for pending SoE requests
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    if (ec_fsm_slave_action_process_soe(fsm))
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        return;
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}
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/*****************************************************************************/
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/** Check for pending SDO requests and process one.
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 *
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 * \return non-zero, if an SDO request is processed.
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 */
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int ec_fsm_slave_action_process_sdo(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_master_sdo_request_t *request, *next;
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    // search the first external request to be processed
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    list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
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        list_del_init(&request->list); // dequeue
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        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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            EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
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                    slave->ring_position);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            wake_up(&slave->sdo_queue);
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            fsm->sdo_request = NULL;
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            fsm->state = ec_fsm_slave_state_idle;
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            return 0;
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   191
        }
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   192
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        if (slave->current_state == EC_SLAVE_STATE_INIT) {
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            EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
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   195
                    slave->ring_position);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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   197
            wake_up(&slave->sdo_queue);
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   198
            fsm->sdo_request = NULL;
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   199
            fsm->state = ec_fsm_slave_state_idle;
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   200
            return 0;
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   201
        }
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   202
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        request->req.state = EC_INT_REQUEST_BUSY;
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        // Found pending SDO request. Execute it!
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   206
        if (master->debug_level)
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            EC_DBG("Processing SDO request for slave %u...\n",
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   208
                    slave->ring_position);
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        // Start SDO transfer
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   211
        fsm->sdo_request = &request->req;
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   212
        fsm->state = ec_fsm_slave_state_sdo_request;
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        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
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        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
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   216
        return 1;
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   217
    }
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   218
    return 0;
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   219
}
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   220
1583
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/*****************************************************************************/
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   222
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   223
/** Slave state: SDO_REQUEST.
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 */
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   225
void ec_fsm_slave_state_sdo_request(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   227
        )
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{
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    ec_slave_t *slave = fsm->slave;
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   230
    ec_master_t *master = slave->master;
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    ec_sdo_request_t *request = fsm->sdo_request;
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   232
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    if (ec_fsm_coe_exec(&fsm->fsm_coe))
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   234
    {
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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
1583
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        return;
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   237
    }
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   238
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
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   239
        EC_DBG("Failed to process SDO request for slave %u.\n",
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   240
                fsm->slave->ring_position);
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        request->state = EC_INT_REQUEST_FAILURE;
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   242
        wake_up(&slave->sdo_queue);
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   243
        fsm->sdo_request = NULL;
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        fsm->state = ec_fsm_slave_state_idle;
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        return;
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    }
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    if (master->debug_level)
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        EC_DBG("Finished SDO request for slave %u.\n",
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                fsm->slave->ring_position);
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    // SDO request finished
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    request->state = EC_INT_REQUEST_SUCCESS;
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    wake_up(&slave->sdo_queue);
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    fsm->sdo_request = NULL;
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    fsm->state = ec_fsm_slave_state_ready;
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}
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/*****************************************************************************/
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/** Check for pending FOE requests and process one.
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 *
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 * \return non-zero, if an FOE request is processed.
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 */
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int ec_fsm_slave_action_process_foe(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_master_foe_request_t *request, *next;
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    // search the first request to be processed
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    list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
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        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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            EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
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                    slave->ring_position);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            wake_up(&slave->sdo_queue);
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            fsm->sdo_request = NULL;
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            fsm->state = ec_fsm_slave_state_idle;
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            return 0;
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        }
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        list_del_init(&request->list); // dequeue
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        request->req.state = EC_INT_REQUEST_BUSY;
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        if (master->debug_level)
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            EC_DBG("Processing FOE request for slave %u.\n",
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                    slave->ring_position);
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        fsm->foe_request = &request->req;
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        fsm->state = ec_fsm_slave_state_foe_request;
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        ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
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        ec_fsm_foe_exec(&fsm->fsm_foe);
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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
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        return 1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** Slave state: FOE REQUEST.
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 */
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void ec_fsm_slave_state_foe_request(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   308
        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_foe_request_t *request = fsm->foe_request;
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   313
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    if (ec_fsm_foe_exec(&fsm->fsm_foe))
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    {
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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
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        return;
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   318
    }
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   319
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    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
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        EC_ERR("Failed to handle FoE request to slave %u.\n",
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                slave->ring_position);
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        request->state = EC_INT_REQUEST_FAILURE;
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        wake_up(&slave->foe_queue);
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        fsm->foe_request = NULL;
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        fsm->state = ec_fsm_slave_state_idle;
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        return;
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   328
    }
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   329
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    // finished transferring FoE
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   331
    if (master->debug_level)
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        EC_DBG("Successfully transferred %u bytes of FoE data from/to"
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   333
                " slave %u.\n", request->data_size, slave->ring_position);
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   334
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    request->state = EC_INT_REQUEST_SUCCESS;
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    wake_up(&slave->foe_queue);
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   337
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   338
    fsm->foe_request = NULL;
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   339
    fsm->state = ec_fsm_slave_state_ready;
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   340
}
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   341
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   342
/*****************************************************************************/
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   343
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/** Check for pending SoE requests and process one.
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 *
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 * \return non-zero, if a request is processed.
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   347
 */
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   348
int ec_fsm_slave_action_process_soe(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   350
        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_master_soe_request_t *req, *next;
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   355
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   356
    // search the first request to be processed
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    list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
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   358
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   359
        list_del_init(&req->list); // dequeue
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   360
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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   361
            EC_WARN("Aborting SoE request, slave %u has ERROR.\n",
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   362
                    slave->ring_position);
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   363
            req->req.state = EC_INT_REQUEST_FAILURE;
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parents: 1804
diff changeset
   364
            wake_up(&slave->soe_queue);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   365
            fsm->state = ec_fsm_slave_state_idle;
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diff changeset
   366
            return 0;
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parents: 1804
diff changeset
   367
        }
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   368
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   369
        if (slave->current_state == EC_SLAVE_STATE_INIT) {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   370
            EC_WARN("Aborting SoE request, slave %u is in INIT.\n",
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parents: 1804
diff changeset
   371
                    slave->ring_position);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   372
            req->req.state = EC_INT_REQUEST_FAILURE;
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parents: 1804
diff changeset
   373
            wake_up(&slave->soe_queue);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   374
            fsm->state = ec_fsm_slave_state_idle;
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diff changeset
   375
            return 0;
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parents: 1804
diff changeset
   376
        }
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parents: 1804
diff changeset
   377
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   378
        req->req.state = EC_INT_REQUEST_BUSY;
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parents: 1804
diff changeset
   379
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   380
        // Found pending request. Execute it!
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   381
        if (master->debug_level)
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   382
            EC_DBG("Processing SoE request for slave %u...\n",
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   383
                    slave->ring_position);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   384
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   385
        // Start SoE transfer
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   386
        fsm->soe_request = &req->req;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   387
        fsm->state = ec_fsm_slave_state_soe_request;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   388
        ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   389
        ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   390
        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   391
        return 1;
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   392
    }
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   393
    return 0;
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   394
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   395
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   396
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   397
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   398
/** Slave state: SOE_REQUEST.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   399
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   400
void ec_fsm_slave_state_soe_request(
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   401
        ec_fsm_slave_t *fsm /**< Slave state machine. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   402
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   403
{
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   404
    ec_slave_t *slave = fsm->slave;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   405
    ec_master_t *master = slave->master;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   406
    ec_soe_request_t *request = fsm->soe_request;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   407
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   408
    if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   409
        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   410
        return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   411
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   412
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   413
    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   414
        EC_DBG("Failed to process SoE request for slave %u.\n",
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   415
                fsm->slave->ring_position);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   416
        request->state = EC_INT_REQUEST_FAILURE;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   417
        wake_up(&slave->soe_queue);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   418
        fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   419
        fsm->state = ec_fsm_slave_state_idle;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   420
        return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   421
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   422
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   423
    if (master->debug_level)
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   424
        EC_DBG("Finished SoE request for slave %u.\n",
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   425
                fsm->slave->ring_position);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   426
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   427
    // SoE request finished
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   428
    request->state = EC_INT_REQUEST_SUCCESS;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   429
    wake_up(&slave->soe_queue);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   430
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   431
    fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   432
    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
   433
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   434
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   435
/*****************************************************************************/