etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:86ebf18a029f
+:2c3ccdde3919
 /******************************************************************************
 *
 *  $Id$
 *
-*  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+*  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 /*****************************************************************************/
 #include "globals.h"
 #include "master.h"
 #include "mailbox.h"
+#include "slave_config.h"
 #include "fsm_slave.h"
 /*****************************************************************************/
 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_reg(ec_fsm_slave_t *);
+void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *);
 int ec_fsm_slave_action_process_foe(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 *);
 )
 {
 // do nothing
 }
 /*****************************************************************************/
 /** Slave state: READY.
 */
 void ec_fsm_slave_state_ready(
 // Check for pending external SDO requests
 if (ec_fsm_slave_action_process_sdo(fsm)) {
 return;
 }
+// Check for pending external register requests
+if (ec_fsm_slave_action_process_reg(fsm)) {
+return;
+}
 // Check for pending FoE requests
 if (ec_fsm_slave_action_process_foe(fsm)) {
 return;
 }
 {
 ec_slave_t *slave = fsm->slave;
 ec_master_sdo_request_t *request, *next;
 // search the first external request to be processed
-list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
+list_for_each_entry_safe(request, next,
+&slave->slave_sdo_requests, list) {
 list_del_init(&request->list); // dequeue
 if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
 EC_SLAVE_WARN(slave, "Aborting SDO request,"
 " slave has error flag set.\n");
 if (ec_fsm_coe_exec(&fsm->fsm_coe)) {
 ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
 return;
 }
 if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
 EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
 request->state = EC_INT_REQUEST_FAILURE;
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
 // SDO request finished
 request->state = EC_INT_REQUEST_SUCCESS;
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
+fsm->state = ec_fsm_slave_state_ready;
+}
+/*****************************************************************************/
+/** Check for pending register requests and process one.
+*
+* \return non-zero, if a register request is processed.
+*/
+int ec_fsm_slave_action_process_reg(
+ec_fsm_slave_t *fsm /**< Slave state machine. */
+)
+{
+ec_slave_t *slave = fsm->slave;
+ec_reg_request_t *reg, *next;
+fsm->reg_request = NULL;
+if (slave->config) {
+// search the first internal register request to be processed
+list_for_each_entry(reg, &slave->config->reg_requests, list) {
+if (reg->state == EC_INT_REQUEST_QUEUED) {
+fsm->reg_request = reg;
+break;
+}
+}
+}
+if (!fsm->reg_request) {
+// search the first external request to be processed
+list_for_each_entry_safe(reg, next, &slave->reg_requests, list) {
+list_del_init(&reg->list); // dequeue
+fsm->reg_request = reg;
+break;
+}
+}
+if (!fsm->reg_request) { // no register request to process
+return 0;
+}
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+EC_SLAVE_WARN(slave, "Aborting register request,"
+" slave has error flag set.\n");
+reg->state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->reg_queue);
+fsm->state = ec_fsm_slave_state_idle;
+return 1;
+}
+// Found pending register request. Execute it!
+EC_SLAVE_DBG(slave, 1, "Processing register request...\n");
+reg->state = EC_INT_REQUEST_BUSY;
+// Start register access
+if (reg->dir == EC_DIR_INPUT) {
+ec_datagram_fprd(fsm->datagram, slave->station_address,
+reg->address, reg->transfer_size);
+ec_datagram_zero(fsm->datagram);
+} else {
+ec_datagram_fpwr(fsm->datagram, slave->station_address,
+reg->address, reg->transfer_size);
+memcpy(fsm->datagram->data, reg->data, reg->transfer_size);
+}
+fsm->datagram->device_index = slave->device_index;
+ec_master_queue_external_datagram(slave->master, fsm->datagram);
+fsm->state = ec_fsm_slave_state_reg_request;
+return 1;
+}
+/*****************************************************************************/
+/** Slave state: Register request.
+*/
+void ec_fsm_slave_state_reg_request(
+ec_fsm_slave_t *fsm /**< Slave state machine. */
+)
+{
+ec_slave_t *slave = fsm->slave;
+ec_reg_request_t *reg = fsm->reg_request;
+if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
+EC_SLAVE_ERR(slave, "Failed to receive register"
+" request datagram: ");
+ec_datagram_print_state(fsm->datagram);
+reg->state = EC_INT_REQUEST_FAILURE;
+wake_up(&slave->reg_queue);
+fsm->state = ec_fsm_slave_state_ready;
+return;
+}
+if (fsm->datagram->working_counter == 1) {
+if (reg->dir == EC_DIR_INPUT) { // read request
+memcpy(reg->data, fsm->datagram->data, reg->transfer_size);
+}
+reg->state = EC_INT_REQUEST_SUCCESS;
+EC_SLAVE_DBG(slave, 1, "Register request successful.\n");
+} else {
+reg->state = EC_INT_REQUEST_FAILURE;
+ec_datagram_print_state(fsm->datagram);
+EC_SLAVE_ERR(slave, "Register request failed"
+" (working counter is %u).\n",
+fsm->datagram->working_counter);
+}
+wake_up(&slave->reg_queue);
 fsm->state = ec_fsm_slave_state_ready;
 }
 /*****************************************************************************/

branch	stable-1.5
changeset 2443	2c3ccdde3919
parent 2442	86ebf18a029f
child 2459	8c7e674aa5d6