--- a/master/fsm_slave.c Fri Jul 08 14:28:07 2011 +0200
+++ b/master/fsm_slave.c Fri Jul 08 15:31:46 2011 +0200
@@ -57,21 +57,21 @@
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->datagram->data_size = 0;
+ fsm->mbox = mbox;
+ 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_foe_init(&fsm->fsm_foe, fsm->datagram);
- ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
+ ec_fsm_coe_init(&fsm->fsm_coe, fsm->mbox);
+ ec_fsm_foe_init(&fsm->fsm_foe, fsm->mbox);
+ ec_fsm_soe_init(&fsm->fsm_soe, fsm->mbox);
}
/*****************************************************************************/
@@ -94,18 +94,21 @@
*
* 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(
- ec_fsm_slave_t *fsm /**< Slave state machine. */
- )
-{
- if (fsm->datagram->state == EC_DATAGRAM_SENT
- || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+ *
+ * \return true, if the state machine was executed
+ */
+int ec_fsm_slave_exec(
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ 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;
}
/*****************************************************************************/
@@ -175,9 +178,10 @@
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");
+ EC_SLAVE_WARN(slave, "Aborting SDO request %p,"
+ " 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;
@@ -185,8 +189,9 @@
}
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;
@@ -196,14 +201,14 @@
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;
@@ -218,26 +223,28 @@
)
{
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");
- request->state = EC_INT_REQUEST_FAILURE;
+ EC_SLAVE_ERR(slave, "Failed to process SDO request %p.\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;
}
- 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;
@@ -260,10 +267,11 @@
// 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,"
- " slave has error flag set.\n");
+ EC_SLAVE_WARN(slave, "Aborting FOE request %p,"
+ " 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;
@@ -271,13 +279,13 @@
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
- EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
-
- fsm->foe_request = &request->req;
+ EC_SLAVE_DBG(slave, 1, "Processing FoE request %p.\n",request);
+
+ 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;
@@ -292,17 +300,18 @@
)
{
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");
- request->state = EC_INT_REQUEST_FAILURE;
+ EC_SLAVE_ERR(slave, "Failed to handle FoE request %p.\n",request);
+ 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;
@@ -310,10 +319,11 @@
}
// finished transferring FoE
- EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
- " data.\n", request->data_size);
-
- request->state = EC_INT_REQUEST_SUCCESS;
+ EC_SLAVE_DBG(slave, 1, "FoE request %p successfully transferred %zu bytes.\n",
+ request,request->req.data_size);
+
+ 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;
@@ -331,16 +341,17 @@
)
{
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_del_init(&req->list); // dequeue
+ list_for_each_entry_safe(request, next, &slave->soe_requests, list) {
+
+ 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;
@@ -348,23 +359,24 @@
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;
@@ -379,16 +391,17 @@
)
{
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;
@@ -398,7 +411,8 @@
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;