master/fsm_slave.c
author Martin Troxler <ch1010277@ch10pc446>
Thu, 16 Dec 2010 09:52:17 +0100
changeset 2019 63177d870116
parent 2018 6c05411fee9b
child 2026 68c1c31522a2
permissions -rw-r--r--
use ext_queue_sem for fsm datagram queue (instead of io_sem)
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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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    EC_SLAVE_DBG(slave, 1, "Init FSM.\n");
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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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 * \return true, if the state machine was executed
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 */
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int ec_fsm_slave_exec(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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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 0;
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    }
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    fsm->state(fsm);
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    return 1;
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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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        EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
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        fsm->state = ec_fsm_slave_state_ready;
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    }
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}
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/******************************************************************************
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 * 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_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_SLAVE_WARN(slave, "Aborting SDO request,"
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                    " slave has error flag set.\n");
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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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   189
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        if (slave->current_state == EC_SLAVE_STATE_INIT) {
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            EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
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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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   196
            return 0;
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   197
        }
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   198
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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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        EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
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        // Start SDO transfer
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        fsm->sdo_request = &request->req;
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        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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   209
        ec_master_queue_request_fsm_datagram(fsm->slave->master,fsm->datagram);
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   210
        return 1;
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   211
    }
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   212
    return 0;
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   213
}
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   214
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/*****************************************************************************/
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   216
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/** Slave state: SDO_REQUEST.
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 */
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void ec_fsm_slave_state_sdo_request(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   221
        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_sdo_request_t *request = fsm->sdo_request;
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   225
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    if (ec_fsm_coe_exec(&fsm->fsm_coe))
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   227
    {
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   228
        ec_master_queue_request_fsm_datagram(fsm->slave->master,fsm->datagram);
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   229
        return;
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   230
    }
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   231
    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
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   232
        EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
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        request->state = EC_INT_REQUEST_FAILURE;
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   234
        wake_up(&slave->sdo_queue);
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   235
        fsm->sdo_request = NULL;
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        fsm->state = ec_fsm_slave_state_idle;
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        return;
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   238
    }
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   239
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    EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
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   241
1583
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    // SDO request finished
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   243
    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_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_SLAVE_WARN(slave, "Aborting FOE request,"
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                    " slave has error flag set.\n");
1831
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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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        EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
1831
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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_request_fsm_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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   290
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   291
/** 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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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_foe_request_t *request = fsm->foe_request;
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   299
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    if (ec_fsm_foe_exec(&fsm->fsm_foe))
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    {
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        ec_master_queue_request_fsm_datagram(fsm->slave->master,fsm->datagram);
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   303
        return;
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   304
    }
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   305
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   306
    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
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        EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
1597
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        request->state = EC_INT_REQUEST_FAILURE;
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   309
        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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   312
        return;
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   313
    }
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   314
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    // finished transferring FoE
1930
59a50053ccc6 Made send_interval variable an unsigned int; fixed format specifiers for
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    EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
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   317
            " data.\n", request->data_size);
1597
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   318
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    request->state = EC_INT_REQUEST_SUCCESS;
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   320
    wake_up(&slave->foe_queue);
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   321
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    fsm->foe_request = NULL;
1804
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   323
    fsm->state = ec_fsm_slave_state_ready;
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   324
}
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   325
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   326
/*****************************************************************************/
1831
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   327
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   328
/** Check for pending SoE requests and process one.
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   329
 *
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   330
 * \return non-zero, if a request is processed.
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   331
 */
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   332
int ec_fsm_slave_action_process_soe(
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   333
        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   334
        )
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   335
{
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   336
    ec_slave_t *slave = fsm->slave;
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   337
    ec_master_soe_request_t *req, *next;
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   338
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   339
    // search the first request to be processed
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   340
    list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
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   341
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   342
        list_del_init(&req->list); // dequeue
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   343
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   344
            EC_SLAVE_WARN(slave, "Aborting SoE request,"
d9cf40facbc4 Improved syslog macros.
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diff changeset
   345
                    " slave has error flag set.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   346
            req->req.state = EC_INT_REQUEST_FAILURE;
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   347
            wake_up(&slave->soe_queue);
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   348
            fsm->state = ec_fsm_slave_state_idle;
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   349
            return 0;
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   350
        }
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   351
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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   352
        if (slave->current_state == EC_SLAVE_STATE_INIT) {
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   353
            EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
1831
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   354
            req->req.state = EC_INT_REQUEST_FAILURE;
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   355
            wake_up(&slave->soe_queue);
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   356
            fsm->state = ec_fsm_slave_state_idle;
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   357
            return 0;
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diff changeset
   358
        }
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diff changeset
   359
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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   360
        req->req.state = EC_INT_REQUEST_BUSY;
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diff changeset
   361
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   362
        // Found pending request. Execute it!
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   363
        EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
1831
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diff changeset
   364
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diff changeset
   365
        // Start SoE transfer
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   366
        fsm->soe_request = &req->req;
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   367
        fsm->state = ec_fsm_slave_state_soe_request;
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diff changeset
   368
        ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
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   369
        ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   370
        ec_master_queue_request_fsm_datagram(fsm->slave->master, fsm->datagram);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   371
        return 1;
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diff changeset
   372
    }
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diff changeset
   373
    return 0;
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diff changeset
   374
}
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diff changeset
   375
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diff changeset
   376
/*****************************************************************************/
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diff changeset
   377
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diff changeset
   378
/** Slave state: SOE_REQUEST.
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   379
 */
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diff changeset
   380
void ec_fsm_slave_state_soe_request(
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   381
        ec_fsm_slave_t *fsm /**< Slave state machine. */
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diff changeset
   382
        )
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   383
{
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parents: 1804
diff changeset
   384
    ec_slave_t *slave = fsm->slave;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   385
    ec_soe_request_t *request = fsm->soe_request;
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parents: 1804
diff changeset
   386
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   387
    if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
2018
6c05411fee9b replaced injection_seq mechanism with fsm datagram queue
Martin Troxler <ch1010277@ch10pc446>
parents: 2017
diff changeset
   388
        ec_master_queue_request_fsm_datagram(fsm->slave->master, fsm->datagram);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   389
        return;
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diff changeset
   390
    }
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parents: 1804
diff changeset
   391
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   392
    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   393
        EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   394
        request->state = EC_INT_REQUEST_FAILURE;
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parents: 1804
diff changeset
   395
        wake_up(&slave->soe_queue);
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   396
        fsm->soe_request = NULL;
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   397
        fsm->state = ec_fsm_slave_state_idle;
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diff changeset
   398
        return;
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parents: 1804
diff changeset
   399
    }
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parents: 1804
diff changeset
   400
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   401
    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
   402
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   403
    // SoE request finished
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   404
    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
   405
    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
   406
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   407
    fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   408
    fsm->state = ec_fsm_slave_state_ready;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   409
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   410
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   411
/*****************************************************************************/