master/fsm_slave.c
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jan 2012 10:11:20 +0100
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child 2414 f35c7c8e6591
permissions -rw-r--r--
Copy missing slave_info data in kernel space.
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/******************************************************************************
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 *
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 *  $Id: fsm_slave.c,v 83e9160319ec 2011/08/01 15:02:45 fp $
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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_mailbox_t *mbox/**< Datagram object to use. */
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        )
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{
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    fsm->slave = slave;
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    fsm->mbox = mbox;
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    slave->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->mbox);
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    ec_fsm_foe_init(&fsm->fsm_foe, fsm->mbox);
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    ec_fsm_soe_init(&fsm->fsm_soe, fsm->mbox);
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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 (ec_mbox_is_datagram_state(fsm->mbox, EC_DATAGRAM_QUEUED)
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        || ec_mbox_is_datagram_state(fsm->mbox, EC_DATAGRAM_SENT)) {
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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 %p,"
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                    " slave has error flag set.\n",request);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            kref_put(&request->refcount,ec_master_sdo_request_release);
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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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   188
        }
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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 %p,"
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                    " slave is in INIT.\n", request);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            kref_put(&request->refcount,ec_master_sdo_request_release);
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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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   199
        }
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   200
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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 %p...\n", request);
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        // Start SDO transfer
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        fsm->sdo_request = request;
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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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        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
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   212
        return 1;
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   213
    }
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   214
    return 0;
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   215
}
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   216
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/*****************************************************************************/
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   218
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/** Slave state: SDO_REQUEST.
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 */
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   221
void ec_fsm_slave_state_sdo_request(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   223
        )
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{
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   225
    ec_slave_t *slave = fsm->slave;
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    ec_master_sdo_request_t *request = fsm->sdo_request;
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   227
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    if (ec_fsm_coe_exec(&fsm->fsm_coe)) {
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        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
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        return;
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   231
    }
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    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
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        EC_SLAVE_ERR(slave, "Failed to process SDO request %p.\n", request);
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   234
        request->req.state = EC_INT_REQUEST_FAILURE;
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   235
        kref_put(&request->refcount, ec_master_sdo_request_release);
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   236
        wake_up(&slave->sdo_queue);
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   237
        fsm->sdo_request = NULL;
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   238
        fsm->state = ec_fsm_slave_state_idle;
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        return;
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    }
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    EC_SLAVE_DBG(slave, 1, "Finished SDO request %p.\n", request);
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    // SDO request finished
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    request->req.state = EC_INT_REQUEST_SUCCESS;
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    kref_put(&request->refcount, ec_master_sdo_request_release);
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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 %p,"
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                    " slave has error flag set.\n", request);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            kref_put(&request->refcount, ec_master_foe_request_release);
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            wake_up(&slave->foe_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 %p.\n", request);
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        fsm->foe_request = request;
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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_slave_mbox_queue_datagrams(slave, fsm->mbox);
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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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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_foe_request_t *request = fsm->foe_request;
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   303
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    if (ec_fsm_foe_exec(&fsm->fsm_foe)) {
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        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
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        return;
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   307
    }
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   308
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    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
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        EC_SLAVE_ERR(slave, "Failed to handle FoE request %p.\n", request);
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        request->req.state = EC_INT_REQUEST_FAILURE;
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        kref_put(&request->refcount, ec_master_foe_request_release);
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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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   317
    }
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   318
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    // finished transferring FoE
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    EC_SLAVE_DBG(slave, 1, "FoE request %p successfully"
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            " transferred %zu bytes.\n", request, request->req.data_size);
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
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   322
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   323
    request->req.state = EC_INT_REQUEST_SUCCESS;
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    kref_put(&request->refcount, ec_master_foe_request_release);
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   325
    wake_up(&slave->foe_queue);
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   326
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   327
    fsm->foe_request = NULL;
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   328
    fsm->state = ec_fsm_slave_state_ready;
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   329
}
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   330
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   331
/*****************************************************************************/
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   333
/** Check for pending SoE requests and process one.
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   334
 *
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 * \return non-zero, if a request is processed.
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   336
 */
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   337
int ec_fsm_slave_action_process_soe(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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   339
        )
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{
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   341
    ec_slave_t *slave = fsm->slave;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
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   342
    ec_master_soe_request_t *request, *next;
1831
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   343
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    // search the first request to be processed
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
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   345
    list_for_each_entry_safe(request, next, &slave->soe_requests, list) {
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
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   346
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
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   347
        list_del_init(&request->list); // dequeue
1831
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   348
        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   349
            EC_SLAVE_WARN(slave, "Aborting SoE request,"
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   350
                    " slave has error flag set.\n");
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
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   351
            request->req.state = EC_INT_REQUEST_FAILURE;
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   352
            kref_put(&request->refcount, ec_master_soe_request_release);
1831
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   353
            wake_up(&slave->soe_queue);
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diff changeset
   354
            fsm->state = ec_fsm_slave_state_idle;
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parents: 1804
diff changeset
   355
            return 0;
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parents: 1804
diff changeset
   356
        }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   357
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   358
        if (slave->current_state == EC_SLAVE_STATE_INIT) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   359
            EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   360
            request->req.state = EC_INT_REQUEST_FAILURE;
2181
cac59f7a42c4 Minor: Fixed spacing.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   361
            kref_put(&request->refcount, ec_master_soe_request_release);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   362
            wake_up(&slave->soe_queue);
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parents: 1804
diff changeset
   363
            fsm->state = ec_fsm_slave_state_idle;
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parents: 1804
diff changeset
   364
            return 0;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   365
        }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   366
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   367
        request->req.state = EC_INT_REQUEST_BUSY;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   368
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   369
        // Found pending request. Execute it!
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1878
diff changeset
   370
        EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents: 1804
diff changeset
   371
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   372
        // Start SoE transfer
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   373
        fsm->soe_request = request;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   374
        fsm->state = ec_fsm_slave_state_soe_request;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   375
        ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &request->req);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   376
        ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2044
diff changeset
   377
        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   378
        return 1;
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   379
    }
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   380
    return 0;
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Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   381
}
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parents: 1804
diff changeset
   382
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   383
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   384
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   385
/** Slave state: SOE_REQUEST.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
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
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
   388
        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
   389
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   390
{
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   391
    ec_slave_t *slave = fsm->slave;
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   392
    ec_master_soe_request_t *request = fsm->soe_request;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   393
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   394
    if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2044
diff changeset
   395
        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   396
        return;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
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
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   399
    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   400
        EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   401
        request->req.state = EC_INT_REQUEST_FAILURE;
2181
cac59f7a42c4 Minor: Fixed spacing.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   402
        kref_put(&request->refcount, ec_master_soe_request_release);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   403
        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
   404
        fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   405
        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
   406
        return;
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
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1878
diff changeset
   409
    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
   410
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   411
    // SoE request finished
2032
57c618557912 SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
   412
    request->req.state = EC_INT_REQUEST_SUCCESS;
2181
cac59f7a42c4 Minor: Fixed spacing.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   413
    kref_put(&request->refcount, ec_master_soe_request_release);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   414
    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
   415
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   416
    fsm->soe_request = NULL;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   417
    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
   418
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   419
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   420
/*****************************************************************************/