etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:d7970e934dba
+:000593b576dd
 void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
 void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
 void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
 void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
 void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
-void ec_fsm_master_state_end(ec_fsm_master_t *);
-void ec_fsm_master_state_error(ec_fsm_master_t *);
 /*****************************************************************************/
 /** Constructor.
 */
 /** Executes the current state of the state machine.
 *
 * If the state machine's datagram is not sent or received yet, the execution
 * of the state machine is delayed to the next cycle.
-*
+*/
-* \return false, if state machine has terminated
+void ec_fsm_master_exec(
-*/
-int ec_fsm_master_exec(
 ec_fsm_master_t *fsm /**< Master state machine. */
 )
 {
 if (fsm->datagram->state == EC_DATAGRAM_SENT
 || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
 // datagram was not sent or received yet.
-return ec_fsm_master_running(fsm);
+return;
 }
 fsm->state(fsm);
-return ec_fsm_master_running(fsm);
-}
-/*****************************************************************************/
-/**
-* \return false, if state machine has terminated
-*/
-int ec_fsm_master_running(
-const ec_fsm_master_t *fsm /**< Master state machine. */
-)
-{
-return fsm->state != ec_fsm_master_state_end
-&& fsm->state != ec_fsm_master_state_error;
 }
 /*****************************************************************************/
 /**
 int ec_fsm_master_idle(
 const ec_fsm_master_t *fsm /**< Master state machine. */
 )
 {
 return fsm->idle;
+}
+/*****************************************************************************/
+/** Restarts the master state machine.
+*/
+void ec_fsm_master_restart(
+ec_fsm_master_t *fsm /**< Master state machine. */
+)
+{
+fsm->state = ec_fsm_master_state_start;
+fsm->state(fsm); // execute immediately
 }
 /******************************************************************************
 * Master state machine
 *****************************************************************************/
 fsm->slaves_responding = datagram->working_counter;
 EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
 }
 if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 if (fsm->slaves_responding) {
 uint8_t states = EC_READ_U8(datagram->data);
 if (!master->slave_count) {
 // no slaves present -> finish state machine.
 master->scan_busy = 0;
 wake_up_interruptible(&master->scan_queue);
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 return;
 }
 size = sizeof(ec_slave_t) * master->slave_count;
 if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
 EC_ERR("Failed to allocate %u bytes of slave memory!\n",
 size);
 master->slave_count = 0; // FIXME avoid scanning!
 master->scan_busy = 0;
 wake_up_interruptible(&master->scan_queue);
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 // init slaves
 for (i = 0; i < master->slave_count; i++) {
 ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
 0x0130, 2);
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_master_state_read_state;
 } else {
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 }
 /*****************************************************************************/
 // check for pending SII write operations.
 if (ec_fsm_master_action_process_sii(fsm))
 return; // SII write request found
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
 /** Master action: Get state of next slave.
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 EC_ERR("Failed to receive AL state datagram for slave %u"
 " (datagram state %u)\n",
 slave->ring_position, datagram->state);
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 // did the slave not respond to its station address?
 if (datagram->working_counter != 1) {
 if (fsm->master->debug_level)
 EC_DBG("Slave %u did not respond to state query.\n",
 fsm->slave->ring_position);
 }
 fsm->topology_change_pending = 1;
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 // A single slave responded
 ec_slave_set_state(slave, EC_READ_U8(datagram->data));
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 EC_ERR("Failed to receive address clearing datagram (state %u).\n",
 datagram->state);
 master->scan_busy = 0;
 wake_up_interruptible(&master->scan_queue);
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 if (datagram->working_counter != master->slave_count) {
 EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
 #ifdef EC_EOE
 // check if EoE processing has to be started
 ec_master_eoe_start(master);
 #endif
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
 /** Master state: CONFIGURE SLAVE.
 if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 EC_ERR("Failed to write SII data to slave %u.\n",
 slave->ring_position);
 request->state = EC_REQUEST_FAILURE;
 wake_up(&master->sii_queue);
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 fsm->sii_index++;
 if (fsm->sii_index < request->nwords) {
 // check for another SII write request
 if (ec_fsm_master_action_process_sii(fsm))
 return; // processing another request
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
 /** Master state: SDO DICTIONARY.
 ec_master_t *master = fsm->master;
 if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 // Sdo dictionary fetching finished
 ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
 EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
 sdo_count, entry_count, slave->ring_position);
 }
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
 /** Master state: SDO REQUEST.
 if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
 EC_DBG("Failed to process Sdo request for slave %u.\n",
 fsm->slave->ring_position);
 request->state = EC_REQUEST_FAILURE;
 wake_up(&master->sdo_queue);
-fsm->state = ec_fsm_master_state_error;
+ec_fsm_master_restart(fsm);
 return;
 }
 // Sdo request finished
 request->state = EC_REQUEST_SUCCESS;
 // check for another Sdo request
 if (ec_fsm_master_action_process_sdo(fsm))
 return; // processing another request
-fsm->state = ec_fsm_master_state_end;
+ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
-/** State: ERROR.
-*/
-void ec_fsm_master_state_error(
-ec_fsm_master_t *fsm /**< Master state machine. */
-)
-{
-fsm->state = ec_fsm_master_state_start;
-}
-/*****************************************************************************/
-/** State: END.
-*/
-void ec_fsm_master_state_end(
-ec_fsm_master_t *fsm /**< Master state machine. */
-)
-{
-fsm->state = ec_fsm_master_state_start;
-}
-/*****************************************************************************/

changeset 1031	000593b576dd
parent 1029	61ffe5f22306
child 1064	5f27403587a8