etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:da3d22a27500
+:09c6fce1ae45
 #ifdef EC_EOE
 #include "ethernet.h"
 #endif
 #include "fsm_master.h"
+#include "fsm_foe.h"
 /*****************************************************************************/
 void ec_fsm_master_state_start(ec_fsm_master_t *);
 void ec_fsm_master_state_broadcast(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_phy_request(ec_fsm_master_t *);
+void ec_fsm_master_state_foe_request(ec_fsm_master_t *);
 /*****************************************************************************/
 /** Constructor.
 */
 fsm->topology_change_pending = 0;
 fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
 // init sub-state-machines
 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
 ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
 ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
 ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
 &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
 ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
 ec_fsm_master_t *fsm /**< Master state machine. */
 )
 {
 // clear sub-state machines
 ec_fsm_coe_clear(&fsm->fsm_coe);
+ec_fsm_foe_clear(&fsm->fsm_foe);
 ec_fsm_pdo_clear(&fsm->fsm_pdo);
 ec_fsm_change_clear(&fsm->fsm_change);
 ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
 ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
 ec_fsm_sii_clear(&fsm->fsm_sii);
 if (!master->allow_scan) {
 up(&master->scan_sem);
 } else {
 master->scan_busy = 1;
 up(&master->scan_sem);
 // topology change when scan is allowed:
 // clear all slaves and scan the bus
 fsm->topology_change_pending = 0;
 fsm->idle = 0;
 fsm->scan_jiffies = jiffies;
 }
 /*****************************************************************************/
 /** Check for pending SII write requests and process one.
 *
 * \return non-zero, if an SII write request is processed.
 */
 int ec_fsm_master_action_process_sii(
 ec_fsm_master_t *fsm /**< Master state machine. */
 )
 }
 /*****************************************************************************/
 /** Check for pending SDO requests and process one.
 *
 * \return non-zero, if an SDO request is processed.
 */
 int ec_fsm_master_action_process_sdo(
 ec_fsm_master_t *fsm /**< Master state machine. */
 )
 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 return 1;
 }
 }
 }
 // search the first external request to be processed
 while (1) {
 if (list_empty(&master->slave_sdo_requests))
 break;
 fsm->sdo_request = &request->req;
 fsm->slave = slave;
 fsm->state = ec_fsm_master_state_sdo_request;
 ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+return 1;
+}
+return 0;
+}
+/*****************************************************************************/
+/** Check for pending FoE requests and process one.
+*
+* \return non-zero, if an FoE request is processed.
+*/
+int ec_fsm_master_action_process_foe(
+ec_fsm_master_t *fsm /**< Master state machine. */
+)
+{
+ec_master_t *master = fsm->master;
+ec_slave_t *slave;
+ec_master_foe_request_t *request;
+// search the first request to be processed
+while (1) {
+if (list_empty(&master->foe_requests))
+break;
+// get first request
+request = list_entry(master->foe_requests.next,
+ec_master_foe_request_t, list);
+list_del_init(&request->list); // dequeue
+request->req.state = EC_REQUEST_BUSY;
+slave = request->slave;
+EC_DBG("---- Master read command from queue ----\n");
+// found pending FOE write operation. execute it!
+if (master->debug_level)
+EC_DBG("Writing FOE data to slave %u...\n",
+request->slave->ring_position);
+fsm->foe_request = &request->req;
+fsm->slave = slave;
+fsm->state = ec_fsm_master_state_foe_request;
+ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
+//(&fsm->fsm_foe, request->slave, request->offset, request->words);
+ec_fsm_foe_exec(&fsm->fsm_foe);
 return 1;
 }
 return 0;
 }
 void ec_fsm_master_state_scan_slave(
 ec_fsm_master_t *fsm /**< Master state machine. */
 )
 {
 ec_master_t *master = fsm->master;
+#ifdef EC_EOE
 ec_slave_t *slave = fsm->slave;
+#endif
 if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
 return;
 #ifdef EC_EOE
 if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
 if (request->offset <= 4 && request->offset + request->nwords > 4) {
 // alias was written
 slave->sii.alias = EC_READ_U16(request->words + 4);
 }
 // TODO: Evaluate other SII contents!
 request->state = EC_INT_REQUEST_SUCCESS;
 wake_up(&master->sii_queue);
 // check for another SII write request
 if (ec_fsm_master_action_process_sii(fsm))
 return; // processing another request
+ec_fsm_master_restart(fsm);
+}
+/*****************************************************************************/
+/** Master state: WRITE FOE.
+*/
+void ec_fsm_master_state_foe_request(
+		ec_fsm_master_t *fsm /**< Master state machine. */
+)
+{
+ec_master_t *master = fsm->master;
+ec_foe_request_t *request = fsm->foe_request;
+ec_slave_t *slave = fsm->slave;
+if (ec_fsm_foe_exec(&fsm->fsm_foe)) return;
+if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
+EC_ERR("Failed to handle FOE request to slave %u.\n",
+slave->ring_position);
+request->state = EC_INT_REQUEST_FAILURE;
+wake_up(&master->foe_queue);
+ec_fsm_master_restart(fsm);
+return;
+}
+// finished writing FOE
+if (master->debug_level)
+EC_DBG("Finished writing %u words of FOE data to slave %u.\n",
+request->data_size, slave->ring_position);
+request->state = EC_INT_REQUEST_SUCCESS;
+wake_up(&master->foe_queue);
 ec_fsm_master_restart(fsm);
 }
 /*****************************************************************************/
 wake_up(&master->sdo_queue);
 ec_fsm_master_restart(fsm);
 return;
 }
 // SDO request finished
 request->state = EC_INT_REQUEST_SUCCESS;
 wake_up(&master->sdo_queue);
 if (master->debug_level)
 EC_DBG("Finished SDO request for slave %u.\n",

changeset 1335	09c6fce1ae45
parent 1327	4d179b06dd3c
child 1336	e27b37e80a99