author | Florian Pose <fp@igh-essen.com> |
Tue, 19 Jan 2010 15:15:57 +0100 | |
changeset 1773 | 5371f3e5f6a1 |
parent 1608 | 004a8b91e927 |
child 1804 | 742607c464c4 |
permissions | -rw-r--r-- |
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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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int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *); |
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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *); |
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void ec_fsm_slave_state_foe_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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} |
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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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} |
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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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|
103 |
|
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104 |
fsm->state(fsm); |
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105 |
return; |
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|
106 |
} |
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|
107 |
|
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|
108 |
|
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|
109 |
/*****************************************************************************/ |
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|
110 |
|
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|
111 |
/** Sets the current state of the state machine to READY |
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112 |
* |
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113 |
*/ |
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114 |
void ec_fsm_slave_ready( |
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115 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
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116 |
) |
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117 |
{ |
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118 |
if (fsm->state == ec_fsm_slave_state_idle) { |
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119 |
if (fsm->slave->master->debug_level) { |
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120 |
EC_DBG("Slave %u ready for SDO/FOE.\n",fsm->slave->ring_position); |
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121 |
} |
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122 |
fsm->state = ec_fsm_slave_state_ready; |
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123 |
} |
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124 |
return; |
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125 |
} |
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126 |
|
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127 |
/****************************************************************************** |
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128 |
* Slave state machine |
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129 |
*****************************************************************************/ |
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130 |
|
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131 |
/*****************************************************************************/ |
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132 |
|
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|
133 |
/** Slave state: IDLE. |
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134 |
* |
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135 |
* |
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|
136 |
*/ |
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|
137 |
void ec_fsm_slave_state_idle( |
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138 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
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|
139 |
) |
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|
140 |
{ |
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141 |
// do nothing |
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|
142 |
} |
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|
143 |
|
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|
144 |
|
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|
145 |
/*****************************************************************************/ |
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|
146 |
|
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|
147 |
/** Slave state: READY. |
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148 |
* |
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|
149 |
* |
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|
150 |
*/ |
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|
151 |
void ec_fsm_slave_state_ready( |
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|
152 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
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|
153 |
) |
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|
154 |
{ |
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|
155 |
// Check for pending external SDO requests |
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|
156 |
if (ec_fsm_slave_action_process_sdo(fsm)) |
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|
157 |
return; |
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|
158 |
// Check for pending FOE requests |
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|
159 |
if (ec_fsm_slave_action_process_foe(fsm)) |
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|
160 |
return; |
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|
161 |
|
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|
162 |
} |
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|
163 |
|
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|
164 |
|
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|
165 |
/*****************************************************************************/ |
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|
166 |
|
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|
167 |
/** Check for pending SDO requests and process one. |
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|
168 |
* |
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|
169 |
* \return non-zero, if an SDO request is processed. |
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|
170 |
*/ |
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|
171 |
int ec_fsm_slave_action_process_sdo( |
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|
172 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
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|
173 |
) |
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|
174 |
{ |
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|
175 |
ec_slave_t *slave = fsm->slave; |
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|
176 |
ec_master_t *master = slave->master; |
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|
177 |
ec_master_sdo_request_t *request, *next; |
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|
178 |
|
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|
179 |
// search the first external request to be processed |
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|
180 |
list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) { |
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|
181 |
|
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|
182 |
list_del_init(&request->list); // dequeue |
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|
183 |
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { |
1604
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|
184 |
EC_WARN("Aborting SDO request, slave %u has ERROR.\n", |
1601
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|
185 |
slave->ring_position); |
1604
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|
186 |
request->req.state = EC_INT_REQUEST_FAILURE; |
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|
187 |
wake_up(&slave->sdo_queue); |
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|
188 |
fsm->sdo_request = NULL; |
1601
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|
189 |
fsm->state = ec_fsm_slave_state_idle; |
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|
190 |
return 0; |
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|
191 |
} |
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|
192 |
if (slave->current_state == EC_SLAVE_STATE_INIT) { |
1604
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|
193 |
EC_WARN("Aborting SDO request, slave %u is in INIT.\n", |
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|
194 |
slave->ring_position); |
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|
195 |
request->req.state = EC_INT_REQUEST_FAILURE; |
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|
196 |
wake_up(&slave->sdo_queue); |
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|
197 |
fsm->sdo_request = NULL; |
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|
198 |
fsm->state = ec_fsm_slave_state_idle; |
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|
199 |
return 0; |
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|
200 |
} |
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|
201 |
request->req.state = EC_INT_REQUEST_BUSY; |
1583
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|
202 |
|
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|
203 |
// Found pending SDO request. Execute it! |
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|
204 |
if (master->debug_level) |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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|
205 |
EC_DBG("Processing SDO request for slave %u...\n", |
017fa8fd9ac1
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|
206 |
slave->ring_position); |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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|
207 |
|
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Each slave got its own SDO state machine (faster handling of external SDO requests)
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|
208 |
// Start SDO transfer |
017fa8fd9ac1
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changeset
|
209 |
fsm->sdo_request = &request->req; |
017fa8fd9ac1
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|
210 |
fsm->state = ec_fsm_slave_state_sdo_request; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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changeset
|
211 |
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req); |
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|
212 |
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately |
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|
213 |
ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); |
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|
214 |
return 1; |
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Moved FOE request queue and fsm into slaves
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|
215 |
} |
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Moved FOE request queue and fsm into slaves
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|
216 |
return 0; |
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Moved FOE request queue and fsm into slaves
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|
217 |
} |
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|
218 |
|
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changeset
|
219 |
|
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Moved FOE request queue and fsm into slaves
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|
220 |
/*****************************************************************************/ |
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changeset
|
221 |
|
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|
222 |
/** Check for pending FOE requests and process one. |
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|
223 |
* |
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|
224 |
* \return non-zero, if an FOE request is processed. |
491dea6f4fd7
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changeset
|
225 |
*/ |
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Moved FOE request queue and fsm into slaves
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changeset
|
226 |
int ec_fsm_slave_action_process_foe( |
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|
227 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
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|
228 |
) |
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|
229 |
{ |
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Moved FOE request queue and fsm into slaves
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|
230 |
ec_slave_t *slave = fsm->slave; |
491dea6f4fd7
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|
231 |
ec_master_t *master = slave->master; |
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Moved FOE request queue and fsm into slaves
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|
232 |
ec_master_foe_request_t *request, *next; |
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changeset
|
233 |
|
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|
234 |
// search the first request to be processed |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
235 |
list_for_each_entry_safe(request, next, &slave->foe_requests, list) { |
1601
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|
236 |
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { |
1604
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1601
diff
changeset
|
237 |
EC_WARN("Aborting FOE request, slave %u has ERROR.\n", |
1601
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|
238 |
slave->ring_position); |
1604
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changeset
|
239 |
request->req.state = EC_INT_REQUEST_FAILURE; |
699bd70f7bfe
undone changes of revision 1547: Abort SDO/FOE requests when slave is in INIT
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|
240 |
wake_up(&slave->sdo_queue); |
699bd70f7bfe
undone changes of revision 1547: Abort SDO/FOE requests when slave is in INIT
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changeset
|
241 |
fsm->sdo_request = NULL; |
1601
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|
242 |
fsm->state = ec_fsm_slave_state_idle; |
a784812c787f
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changeset
|
243 |
return 0; |
a784812c787f
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|
244 |
} |
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changeset
|
245 |
list_del_init(&request->list); // dequeue |
1597
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changeset
|
246 |
request->req.state = EC_INT_REQUEST_BUSY; |
491dea6f4fd7
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changeset
|
247 |
|
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changeset
|
248 |
if (master->debug_level) |
1601
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changeset
|
249 |
EC_DBG("Processing FOE request for slave %u.\n", |
1597
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changeset
|
250 |
slave->ring_position); |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
251 |
|
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changeset
|
252 |
fsm->foe_request = &request->req; |
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changeset
|
253 |
fsm->state = ec_fsm_slave_state_foe_request; |
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changeset
|
254 |
ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req); |
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changeset
|
255 |
ec_fsm_foe_exec(&fsm->fsm_foe); |
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changeset
|
256 |
ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); |
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Moved FOE request queue and fsm into slaves
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changeset
|
257 |
return 1; |
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Moved FOE request queue and fsm into slaves
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changeset
|
258 |
} |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
259 |
return 0; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
260 |
} |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
261 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
262 |
|
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
263 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
264 |
/*****************************************************************************/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
265 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
266 |
/** Slave state: SDO_REQUEST. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
267 |
*/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
268 |
void ec_fsm_slave_state_sdo_request( |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
269 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
270 |
) |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
271 |
{ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
272 |
ec_slave_t *slave = fsm->slave; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
273 |
ec_master_t *master = slave->master; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
274 |
ec_sdo_request_t *request = fsm->sdo_request; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
275 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
276 |
if (ec_fsm_coe_exec(&fsm->fsm_coe)) |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
277 |
{ |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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changeset
|
278 |
ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
279 |
return; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
280 |
} |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
281 |
if (!ec_fsm_coe_success(&fsm->fsm_coe)) { |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
282 |
EC_DBG("Failed to process SDO request for slave %u.\n", |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
283 |
fsm->slave->ring_position); |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
284 |
request->state = EC_INT_REQUEST_FAILURE; |
1608
004a8b91e927
Fixed sdo request handling in case of failure
Matthias Luescher <ch1010472@ch10pc594>
parents:
1604
diff
changeset
|
285 |
wake_up(&slave->sdo_queue); |
004a8b91e927
Fixed sdo request handling in case of failure
Matthias Luescher <ch1010472@ch10pc594>
parents:
1604
diff
changeset
|
286 |
fsm->sdo_request = NULL; |
1604
699bd70f7bfe
undone changes of revision 1547: Abort SDO/FOE requests when slave is in INIT
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1601
diff
changeset
|
287 |
fsm->state = ec_fsm_slave_state_idle; |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
288 |
return; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
289 |
} |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
290 |
|
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
291 |
if (master->debug_level) |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
292 |
EC_DBG("Finished SDO request for slave %u.\n", |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
293 |
fsm->slave->ring_position); |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
294 |
|
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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diff
changeset
|
295 |
// SDO request finished |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
296 |
request->state = EC_INT_REQUEST_SUCCESS; |
1596
ea8d2b4ee742
Moved sdo request queue to slaves
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parents:
1583
diff
changeset
|
297 |
wake_up(&slave->sdo_queue); |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
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parents:
diff
changeset
|
298 |
|
1597
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Moved FOE request queue and fsm into slaves
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diff
changeset
|
299 |
fsm->sdo_request = NULL; |
1601
a784812c787f
master FSM enables slave FSM
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1598
diff
changeset
|
300 |
fsm->state = ec_fsm_slave_state_ready; |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
301 |
} |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
302 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
303 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
304 |
/*****************************************************************************/ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
305 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
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diff
changeset
|
306 |
/** Slave state: FOE REQUEST. |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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diff
changeset
|
307 |
*/ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
308 |
void ec_fsm_slave_state_foe_request( |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
309 |
ec_fsm_slave_t *fsm /**< Slave state machine. */ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
310 |
) |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
311 |
{ |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
312 |
ec_slave_t *slave = fsm->slave; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
313 |
ec_master_t *master = slave->master; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
314 |
ec_foe_request_t *request = fsm->foe_request; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
1596
diff
changeset
|
315 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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316 |
if (ec_fsm_foe_exec(&fsm->fsm_foe)) |
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|
317 |
{ |
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318 |
ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); |
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319 |
return; |
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|
320 |
} |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
321 |
|
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|
322 |
if (!ec_fsm_foe_success(&fsm->fsm_foe)) { |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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|
323 |
EC_ERR("Failed to handle FoE request to slave %u.\n", |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
324 |
slave->ring_position); |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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|
325 |
request->state = EC_INT_REQUEST_FAILURE; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
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|
326 |
wake_up(&slave->foe_queue); |
491dea6f4fd7
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parents:
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diff
changeset
|
327 |
fsm->foe_request = NULL; |
491dea6f4fd7
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parents:
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diff
changeset
|
328 |
fsm->state = ec_fsm_slave_state_idle; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
329 |
return; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
330 |
} |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
331 |
|
491dea6f4fd7
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parents:
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diff
changeset
|
332 |
// finished transferring FoE |
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
|
333 |
if (master->debug_level) |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
334 |
EC_DBG("Successfully transferred %u bytes of FoE data from/to" |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
335 |
" slave %u.\n", request->data_size, slave->ring_position); |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
336 |
|
491dea6f4fd7
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parents:
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diff
changeset
|
337 |
request->state = EC_INT_REQUEST_SUCCESS; |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
338 |
wake_up(&slave->foe_queue); |
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
339 |
|
491dea6f4fd7
Moved FOE request queue and fsm into slaves
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parents:
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diff
changeset
|
340 |
fsm->foe_request = NULL; |
1601
a784812c787f
master FSM enables slave FSM
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1598
diff
changeset
|
341 |
fsm->state = ec_fsm_slave_state_ready; |
a784812c787f
master FSM enables slave FSM
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parents:
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diff
changeset
|
342 |
} |
a784812c787f
master FSM enables slave FSM
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parents:
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diff
changeset
|
343 |