etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:ef09f0ea0c4c
+:1875b9fea0ba
 /*****************************************************************************/
 void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
 void ec_fsm_slave_state_ready(ec_fsm_slave_t *);
 int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);
+void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
 int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);
-void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
 void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);
+int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);
+void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);
 /*****************************************************************************/
 /** Constructor.
 */
 fsm->state = ec_fsm_slave_state_idle;
 // init sub-state-machines
 ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
 ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
+ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
 }
 /*****************************************************************************/
 /** Destructor.
 )
 {
 // clear sub-state machines
 ec_fsm_coe_clear(&fsm->fsm_coe);
 ec_fsm_foe_clear(&fsm->fsm_foe);
+ec_fsm_soe_clear(&fsm->fsm_soe);
 }
 /*****************************************************************************/
 /** Executes the current state of the state machine.
 fsm->state(fsm);
 return;
 }
 /*****************************************************************************/
 /** Sets the current state of the state machine to READY
-*
 */
 void ec_fsm_slave_ready(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 if (fsm->state == ec_fsm_slave_state_idle) {
 if (fsm->slave->master->debug_level) {
-EC_DBG("Slave %u ready for SDO/FOE.\n",
+EC_DBG("Slave %u ready for requests.\n",
 fsm->slave->ring_position);
 }
 fsm->state = ec_fsm_slave_state_ready;
 }
-return;
 }
 /******************************************************************************
 * Slave state machine
 *****************************************************************************/
-/*****************************************************************************/
 /** Slave state: IDLE.
-*
-*
 */
 void ec_fsm_slave_state_idle(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 /*****************************************************************************/
 /** Slave state: READY.
-*
-*
 */
 void ec_fsm_slave_state_ready(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 // Check for pending external SDO requests
 if (ec_fsm_slave_action_process_sdo(fsm))
 return;
-// Check for pending FOE requests
+// Check for pending FoE requests
 if (ec_fsm_slave_action_process_foe(fsm))
+return;
+// Check for pending SoE requests
+if (ec_fsm_slave_action_process_soe(fsm))
 return;
 }
 /*****************************************************************************/
 return 1;
 }
 return 0;
 }
-/*****************************************************************************/
-/** Check for pending FOE requests and process one.
-*
-* \return non-zero, if an FOE request is processed.
-*/
-int ec_fsm_slave_action_process_foe(
-ec_fsm_slave_t *fsm /**< Slave state machine. */
-)
-{
-ec_slave_t *slave = fsm->slave;
-ec_master_t *master = slave->master;
-ec_master_foe_request_t *request, *next;
-// search the first request to be processed
-list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
-if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
-EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
-slave->ring_position);
-request->req.state = EC_INT_REQUEST_FAILURE;
-wake_up(&slave->sdo_queue);
-fsm->sdo_request = NULL;
-fsm->state = ec_fsm_slave_state_idle;
-return 0;
-}
-list_del_init(&request->list); // dequeue
-request->req.state = EC_INT_REQUEST_BUSY;
-if (master->debug_level)
-EC_DBG("Processing FOE request for slave %u.\n",
-slave->ring_position);
-fsm->foe_request = &request->req;
-fsm->state = ec_fsm_slave_state_foe_request;
-ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
-ec_fsm_foe_exec(&fsm->fsm_foe);
-ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
-return 1;
-}
-return 0;
-}
 /*****************************************************************************/
 /** Slave state: SDO_REQUEST.
 */
 void ec_fsm_slave_state_sdo_request(
 fsm->state = ec_fsm_slave_state_ready;
 }
 /*****************************************************************************/
+/** Check for pending FOE requests and process one.
+*
+* \return non-zero, if an FOE request is processed.
+*/
+int ec_fsm_slave_action_process_foe(
+ec_fsm_slave_t *fsm /**< Slave state machine. */
+)
+{
+ec_slave_t *slave = fsm->slave;
+ec_master_t *master = slave->master;
+ec_master_foe_request_t *request, *next;
+// search the first request to be processed
+list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
+slave->ring_position);
+request->req.state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->sdo_queue);
+fsm->sdo_request = NULL;
+fsm->state = ec_fsm_slave_state_idle;
+return 0;
+}
+list_del_init(&request->list); // dequeue
+request->req.state = EC_INT_REQUEST_BUSY;
+if (master->debug_level)
+EC_DBG("Processing FOE request for slave %u.\n",
+slave->ring_position);
+fsm->foe_request = &request->req;
+fsm->state = ec_fsm_slave_state_foe_request;
+ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
+ec_fsm_foe_exec(&fsm->fsm_foe);
+ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
+return 1;
+}
+return 0;
+}
+/*****************************************************************************/
 /** Slave state: FOE REQUEST.
 */
 void ec_fsm_slave_state_foe_request(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 fsm->foe_request = NULL;
 fsm->state = ec_fsm_slave_state_ready;
 }
 /*****************************************************************************/
+/** Check for pending SoE requests and process one.
+*
+* \return non-zero, if a request is processed.
+*/
+int ec_fsm_slave_action_process_soe(
+ec_fsm_slave_t *fsm /**< Slave state machine. */
+)
+{
+ec_slave_t *slave = fsm->slave;
+ec_master_t *master = slave->master;
+ec_master_soe_request_t *req, *next;
+// search the first request to be processed
+list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
+list_del_init(&req->list); // dequeue
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+EC_WARN("Aborting SoE request, slave %u has ERROR.\n",
+slave->ring_position);
+req->req.state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->soe_queue);
+fsm->state = ec_fsm_slave_state_idle;
+return 0;
+}
+if (slave->current_state == EC_SLAVE_STATE_INIT) {
+EC_WARN("Aborting SoE request, slave %u is in INIT.\n",
+slave->ring_position);
+req->req.state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->soe_queue);
+fsm->state = ec_fsm_slave_state_idle;
+return 0;
+}
+req->req.state = EC_INT_REQUEST_BUSY;
+// Found pending request. Execute it!
+if (master->debug_level)
+EC_DBG("Processing SoE request for slave %u...\n",
+slave->ring_position);
+// Start SoE transfer
+fsm->soe_request = &req->req;
+fsm->state = ec_fsm_slave_state_soe_request;
+ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
+ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
+ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+return 1;
+}
+return 0;
+}
+/*****************************************************************************/
+/** Slave state: SOE_REQUEST.
+*/
+void ec_fsm_slave_state_soe_request(
+ec_fsm_slave_t *fsm /**< Slave state machine. */
+)
+{
+ec_slave_t *slave = fsm->slave;
+ec_master_t *master = slave->master;
+ec_soe_request_t *request = fsm->soe_request;
+if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
+ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+return;
+}
+if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
+EC_DBG("Failed to process SoE request for slave %u.\n",
+fsm->slave->ring_position);
+request->state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->soe_queue);
+fsm->soe_request = NULL;
+fsm->state = ec_fsm_slave_state_idle;
+return;
+}
+if (master->debug_level)
+EC_DBG("Finished SoE request for slave %u.\n",
+fsm->slave->ring_position);
+// SoE request finished
+request->state = EC_INT_REQUEST_SUCCESS;
+wake_up(&slave->soe_queue);
+fsm->soe_request = NULL;
+fsm->state = ec_fsm_slave_state_ready;
+}
+/*****************************************************************************/

changeset 1831	1875b9fea0ba
parent 1804	742607c464c4
child 1878	8f37abf260cf