etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:56993027a2d0
+:42fbd117c3e3
 /** Constructor.
 */
 void ec_fsm_slave_init(
 ec_fsm_slave_t *fsm, /**< Slave state machine. */
 ec_slave_t *slave, /**< EtherCAT slave. */
-ec_datagram_t *datagram /**< Datagram object to use. */
+ec_mailbox_t *mbox/**< Datagram object to use. */
 )
 {
 fsm->slave = slave;
-fsm->datagram = datagram;
+fsm->mbox = mbox;
-fsm->datagram->data_size = 0;
+slave->datagram.data_size = 0;
 EC_SLAVE_DBG(slave, 1, "Init FSM.\n");
 fsm->state = ec_fsm_slave_state_idle;
 // init sub-state-machines
-ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+ec_fsm_coe_init(&fsm->fsm_coe, fsm->mbox);
-ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
+ec_fsm_foe_init(&fsm->fsm_foe, fsm->mbox);
-ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
+ec_fsm_soe_init(&fsm->fsm_soe, fsm->mbox);
 }
 /*****************************************************************************/
 /** Destructor.
 /** 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.
-*/
+*
-void ec_fsm_slave_exec(
+* \return true, if the state machine was executed
-ec_fsm_slave_t *fsm /**< Slave state machine. */
+*/
-)
+int ec_fsm_slave_exec(
-{
+ec_fsm_slave_t *fsm /**< Slave state machine. */
-if (fsm->datagram->state == EC_DATAGRAM_SENT
+)
-|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+{
+if (ec_mbox_is_datagram_state(fsm->mbox,EC_DATAGRAM_QUEUED)
+|| ec_mbox_is_datagram_state(fsm->mbox,EC_DATAGRAM_SENT)) {
 // datagram was not sent or received yet.
-return;
+return 0;
 }
 fsm->state(fsm);
+return 1;
 }
 /*****************************************************************************/
 /** Sets the current state of the state machine to READY
 // search the first external request to be processed
 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,"
+EC_SLAVE_WARN(slave, "Aborting SDO request %p,"
-" slave has error flag set.\n");
+" slave has error flag set.\n",request);
 request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_sdo_request_release);
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
 fsm->state = ec_fsm_slave_state_idle;
 return 0;
 }
 if (slave->current_state == EC_SLAVE_STATE_INIT) {
-EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
+EC_SLAVE_WARN(slave, "Aborting SDO request %p, slave is in INIT.\n",request);
 request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_sdo_request_release);
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
 fsm->state = ec_fsm_slave_state_idle;
 return 0;
 }
 request->req.state = EC_INT_REQUEST_BUSY;
 // Found pending SDO request. Execute it!
-EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
+EC_SLAVE_DBG(slave, 1, "Processing SDO request %p...\n",request);
 // Start SDO transfer
-fsm->sdo_request = &request->req;
+fsm->sdo_request = request;
 fsm->state = ec_fsm_slave_state_sdo_request;
 ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
-ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return 1;
 }
 return 0;
 }
 void ec_fsm_slave_state_sdo_request(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 ec_slave_t *slave = fsm->slave;
-ec_sdo_request_t *request = fsm->sdo_request;
+ec_master_sdo_request_t *request = fsm->sdo_request;
 if (ec_fsm_coe_exec(&fsm->fsm_coe))
 {
-ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return;
 }
 if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
+EC_SLAVE_ERR(slave, "Failed to process SDO request %p.\n",request);
-request->state = EC_INT_REQUEST_FAILURE;
+request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_sdo_request_release);
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
 fsm->state = ec_fsm_slave_state_idle;
 return;
 }
-EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
+EC_SLAVE_DBG(slave, 1, "Finished SDO request %p.\n",request);
 // SDO request finished
-request->state = EC_INT_REQUEST_SUCCESS;
+request->req.state = EC_INT_REQUEST_SUCCESS;
+kref_put(&request->refcount,ec_master_sdo_request_release);
 wake_up(&slave->sdo_queue);
 fsm->sdo_request = NULL;
 fsm->state = ec_fsm_slave_state_ready;
 }
 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_SLAVE_WARN(slave, "Aborting FOE request,"
+EC_SLAVE_WARN(slave, "Aborting FOE request %p,"
-" slave has error flag set.\n");
+" slave has error flag set.\n",request);
 request->req.state = EC_INT_REQUEST_FAILURE;
-wake_up(&slave->sdo_queue);
+kref_put(&request->refcount,ec_master_foe_request_release);
+wake_up(&slave->foe_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;
-EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
+EC_SLAVE_DBG(slave, 1, "Processing FoE request %p.\n",request);
-fsm->foe_request = &request->req;
+fsm->foe_request = request;
 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);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return 1;
 }
 return 0;
 }
 void ec_fsm_slave_state_foe_request(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 ec_slave_t *slave = fsm->slave;
-ec_foe_request_t *request = fsm->foe_request;
+ec_master_foe_request_t *request = fsm->foe_request;
 if (ec_fsm_foe_exec(&fsm->fsm_foe))
 {
-ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return;
 }
 if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
-EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
+EC_SLAVE_ERR(slave, "Failed to handle FoE request %p.\n",request);
-request->state = EC_INT_REQUEST_FAILURE;
+request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_foe_request_release);
 wake_up(&slave->foe_queue);
 fsm->foe_request = NULL;
 fsm->state = ec_fsm_slave_state_idle;
 return;
 }
 // finished transferring FoE
-EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
+EC_SLAVE_DBG(slave, 1, "FoE request %p successfully transferred %zu bytes.\n",
-" data.\n", request->data_size);
+request,request->req.data_size);
-request->state = EC_INT_REQUEST_SUCCESS;
+request->req.state = EC_INT_REQUEST_SUCCESS;
+kref_put(&request->refcount,ec_master_foe_request_release);
 wake_up(&slave->foe_queue);
 fsm->foe_request = NULL;
 fsm->state = ec_fsm_slave_state_ready;
 }
 int ec_fsm_slave_action_process_soe(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 ec_slave_t *slave = fsm->slave;
-ec_master_soe_request_t *req, *next;
+ec_master_soe_request_t *request, *next;
 // search the first request to be processed
-list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
+list_for_each_entry_safe(request, next, &slave->soe_requests, list) {
-list_del_init(&req->list); // dequeue
+list_del_init(&request->list); // dequeue
 if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
 EC_SLAVE_WARN(slave, "Aborting SoE request,"
 " slave has error flag set.\n");
-req->req.state = EC_INT_REQUEST_FAILURE;
+request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_soe_request_release);
 wake_up(&slave->soe_queue);
 fsm->state = ec_fsm_slave_state_idle;
 return 0;
 }
 if (slave->current_state == EC_SLAVE_STATE_INIT) {
 EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
-req->req.state = EC_INT_REQUEST_FAILURE;
+request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_soe_request_release);
 wake_up(&slave->soe_queue);
 fsm->state = ec_fsm_slave_state_idle;
 return 0;
 }
-req->req.state = EC_INT_REQUEST_BUSY;
+request->req.state = EC_INT_REQUEST_BUSY;
 // Found pending request. Execute it!
 EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
 // Start SoE transfer
-fsm->soe_request = &req->req;
+fsm->soe_request = request;
 fsm->state = ec_fsm_slave_state_soe_request;
-ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
+ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &request->req);
 ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
-ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return 1;
 }
 return 0;
 }
 void ec_fsm_slave_state_soe_request(
 ec_fsm_slave_t *fsm /**< Slave state machine. */
 )
 {
 ec_slave_t *slave = fsm->slave;
-ec_soe_request_t *request = fsm->soe_request;
+ec_master_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);
+ec_slave_mbox_queue_datagrams(slave, fsm->mbox);
 return;
 }
 if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
 EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
-request->state = EC_INT_REQUEST_FAILURE;
+request->req.state = EC_INT_REQUEST_FAILURE;
+kref_put(&request->refcount,ec_master_soe_request_release);
 wake_up(&slave->soe_queue);
 fsm->soe_request = NULL;
 fsm->state = ec_fsm_slave_state_idle;
 return;
 }
 EC_SLAVE_DBG(slave, 1, "Finished SoE request.\n");
 // SoE request finished
-request->state = EC_INT_REQUEST_SUCCESS;
+request->req.state = EC_INT_REQUEST_SUCCESS;
+kref_put(&request->refcount,ec_master_soe_request_release);
 wake_up(&slave->soe_queue);
 fsm->soe_request = NULL;
 fsm->state = ec_fsm_slave_state_ready;
 }

changeset 2080	42fbd117c3e3
parent 2079	56993027a2d0
parent 2045	ff2a13a4603c
child 2094	83e9160319ec