martin@1583: /******************************************************************************
martin@1583:  *
fp@2099:  *  $Id$
martin@1583:  *
fp@2443:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
martin@1583:  *
martin@1583:  *  This file is part of the IgH EtherCAT Master.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
martin@1583:  *  modify it under the terms of the GNU General Public License version 2, as
martin@1583:  *  published by the Free Software Foundation.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
martin@1583:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
martin@1583:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
martin@1583:  *  Public License for more details.
martin@1583:  *
martin@1583:  *  You should have received a copy of the GNU General Public License along
martin@1583:  *  with the IgH EtherCAT Master; if not, write to the Free Software
martin@1583:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
martin@1583:  *
martin@1583:  *  ---
martin@1583:  *
martin@1583:  *  The license mentioned above concerns the source code only. Using the
martin@1583:  *  EtherCAT technology and brand is only permitted in compliance with the
martin@1583:  *  industrial property and similar rights of Beckhoff Automation GmbH.
martin@1583:  *
martin@1583:  *****************************************************************************/
martin@1583: 
martin@1583: /** \file
martin@1583:  * EtherCAT slave (SDO) state machine.
martin@1583:  */
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: #include "globals.h"
martin@1583: #include "master.h"
martin@1583: #include "mailbox.h"
fp@2443: #include "slave_config.h"
martin@1583: 
martin@1583: #include "fsm_slave.h"
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
fp@2498: void ec_fsm_slave_state_idle(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: void ec_fsm_slave_state_ready(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);
fp@2498: void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Constructor.
martin@1583:  */
martin@1583: void ec_fsm_slave_init(
martin@1583:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_slave_t *slave /**< EtherCAT slave. */
martin@1583:         )
martin@1583: {
martin@1583:     fsm->slave = slave;
fp@2498:     INIT_LIST_HEAD(&fsm->list); // mark as unlisted
fp@1804: 
fp@1804:     fsm->state = ec_fsm_slave_state_idle;
fp@2498:     fsm->datagram = NULL;
fp@2498:     fsm->sdo_request = NULL;
fp@2498:     fsm->reg_request = NULL;
fp@2498:     fsm->foe_request = NULL;
fp@2498:     fsm->soe_request = NULL;
fp@2498: 
fp@2498:     // Init sub-state-machines
fp@2498:     ec_fsm_coe_init(&fsm->fsm_coe);
fp@2498:     ec_fsm_foe_init(&fsm->fsm_foe);
fp@2498:     ec_fsm_soe_init(&fsm->fsm_soe);
martin@1583: }
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Destructor.
martin@1583:  */
martin@1583: void ec_fsm_slave_clear(
martin@1583:         ec_fsm_slave_t *fsm /**< Master state machine. */
martin@1583:         )
martin@1583: {
fp@2498:     // signal requests that are currently in operation
fp@2498: 
fp@2498:     if (fsm->sdo_request) {
fp@2498:         fsm->sdo_request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&fsm->slave->master->request_queue);
fp@2498:     }
fp@2498: 
fp@2498:     if (fsm->reg_request) {
fp@2498:         fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&fsm->slave->master->request_queue);
fp@2498:     }
fp@2498: 
fp@2498:     if (fsm->foe_request) {
fp@2498:         fsm->foe_request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&fsm->slave->master->request_queue);
fp@2498:     }
fp@2498: 
fp@2498:     if (fsm->soe_request) {
fp@2498:         fsm->soe_request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&fsm->slave->master->request_queue);
fp@2498:     }
fp@2498: 
martin@1583:     // clear sub-state machines
martin@1583:     ec_fsm_coe_clear(&fsm->fsm_coe);
martin@1597:     ec_fsm_foe_clear(&fsm->fsm_foe);
fp@1831:     ec_fsm_soe_clear(&fsm->fsm_soe);
martin@1583: }
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Executes the current state of the state machine.
martin@1583:  *
fp@2498:  * \return 1 if \a datagram was used, else 0.
fp@2498:  */
fp@2498: int ec_fsm_slave_exec(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< New datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     int datagram_used;
fp@2498: 
fp@2498:     fsm->state(fsm, datagram);
fp@2498: 
fp@2498:     datagram_used = fsm->state != ec_fsm_slave_state_idle &&
fp@2498:         fsm->state != ec_fsm_slave_state_ready;
fp@2498: 
fp@2498:     if (datagram_used) {
fp@2498:         fsm->datagram = datagram;
fp@2498:     } else {
fp@2498:         fsm->datagram = NULL;
fp@2498:     }
fp@2498: 
fp@2498:     return datagram_used;
martin@1583: }
martin@1583: 
martin@1601: /*****************************************************************************/
martin@1601: 
martin@1601: /** Sets the current state of the state machine to READY
martin@1601:  */
fp@2498: void ec_fsm_slave_set_ready(
fp@1804:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1804:         )
fp@1804: {
fp@1804:     if (fsm->state == ec_fsm_slave_state_idle) {
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
fp@1804:         fsm->state = ec_fsm_slave_state_ready;
fp@1804:     }
martin@1601: }
martin@1601: 
fp@2498: /*****************************************************************************/
fp@2498: 
fp@2498: /** Returns, if the FSM is currently not busy and ready to execute.
fp@2498:  */
fp@2498: int ec_fsm_slave_is_ready(
fp@2498:         const ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@2498:         )
fp@2498: {
fp@2498:     return fsm->state == ec_fsm_slave_state_ready;
fp@2498: }
fp@2498: 
martin@1583: /******************************************************************************
martin@1583:  * Slave state machine
martin@1583:  *****************************************************************************/
martin@1583: 
martin@1583: /** Slave state: IDLE.
martin@1583:  */
martin@1583: void ec_fsm_slave_state_idle(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1804:         )
fp@1804: {
fp@1804:     // do nothing
martin@1601: }
martin@1601: 
martin@1601: /*****************************************************************************/
martin@1601: 
martin@1601: /** Slave state: READY.
martin@1601:  */
martin@1601: void ec_fsm_slave_state_ready(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1804:         )
fp@1804: {
fp@1804:     // Check for pending external SDO requests
fp@2498:     if (ec_fsm_slave_action_process_sdo(fsm, datagram)) {
fp@2304:         return;
fp@2304:     }
fp@1804: 
fp@2443:     // Check for pending external register requests
fp@2498:     if (ec_fsm_slave_action_process_reg(fsm, datagram)) {
fp@2443:         return;
fp@2443:     }
fp@2443: 
fp@1831:     // Check for pending FoE requests
fp@2498:     if (ec_fsm_slave_action_process_foe(fsm, datagram)) {
fp@2304:         return;
fp@2304:     }
fp@1831: 
fp@1831:     // Check for pending SoE requests
fp@2498:     if (ec_fsm_slave_action_process_soe(fsm, datagram)) {
fp@2304:         return;
fp@2304:     }
fp@1804: }
martin@1597: 
martin@1597: /*****************************************************************************/
martin@1597: 
martin@1597: /** Check for pending SDO requests and process one.
martin@1597:  *
martin@1597:  * \return non-zero, if an SDO request is processed.
martin@1597:  */
martin@1597: int ec_fsm_slave_action_process_sdo(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
martin@1597:         )
martin@1597: {
martin@1583:     ec_slave_t *slave = fsm->slave;
fp@2467:     ec_sdo_request_t *request;
fp@2467: 
fp@2467:     if (list_empty(&slave->sdo_requests)) {
fp@2467:         return 0;
fp@2467:     }
fp@2467: 
fp@2467:     // take the first request to be processed
fp@2467:     request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
fp@2467:     list_del_init(&request->list); // dequeue
fp@2467: 
fp@2467:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@2467:         EC_SLAVE_WARN(slave, "Aborting SDO request,"
fp@2467:                 " slave has error flag set.\n");
fp@2467:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->state = ec_fsm_slave_state_idle;
martin@1597:         return 1;
martin@1597:     }
fp@2467: 
fp@2467:     if (slave->current_state == EC_SLAVE_STATE_INIT) {
fp@2467:         EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
fp@2467:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->state = ec_fsm_slave_state_idle;
fp@2467:         return 1;
fp@2467:     }
fp@2467: 
fp@2498:     fsm->sdo_request = request;
fp@2467:     request->state = EC_INT_REQUEST_BUSY;
fp@2467: 
fp@2467:     // Found pending SDO request. Execute it!
fp@2467:     EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
fp@2467: 
fp@2467:     // Start SDO transfer
fp@2467:     fsm->state = ec_fsm_slave_state_sdo_request;
fp@2467:     ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
fp@2498:     ec_fsm_coe_exec(&fsm->fsm_coe, datagram); // execute immediately
fp@2467:     return 1;
martin@1597: }
martin@1597: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Slave state: SDO_REQUEST.
martin@1583:  */
martin@1583: void ec_fsm_slave_state_sdo_request(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
martin@1583:         )
martin@1583: {
martin@1583:     ec_slave_t *slave = fsm->slave;
martin@1583:     ec_sdo_request_t *request = fsm->sdo_request;
martin@1583: 
fp@2498:     if (ec_fsm_coe_exec(&fsm->fsm_coe, datagram)) {
martin@1583:         return;
martin@1583:     }
fp@2443: 
martin@1583:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
martin@1583:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@1804:         fsm->sdo_request = NULL;
fp@2442:         fsm->state = ec_fsm_slave_state_ready;
martin@1583:         return;
martin@1583:     }
martin@1583: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
martin@1597: 
martin@1583:     // SDO request finished
martin@1583:     request->state = EC_INT_REQUEST_SUCCESS;
fp@2498:     wake_up_all(&slave->master->request_queue);
martin@1597:     fsm->sdo_request = NULL;
fp@1804:     fsm->state = ec_fsm_slave_state_ready;
fp@1804: }
martin@1597: 
martin@1597: /*****************************************************************************/
martin@1597: 
fp@2443: /** Check for pending register requests and process one.
fp@2443:  *
fp@2443:  * \return non-zero, if a register request is processed.
fp@2443:  */
fp@2443: int ec_fsm_slave_action_process_reg(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2443:         )
fp@2443: {
fp@2443:     ec_slave_t *slave = fsm->slave;
fp@2462:     ec_reg_request_t *reg;
fp@2443: 
fp@2443:     fsm->reg_request = NULL;
fp@2443: 
fp@2443:     if (slave->config) {
fp@2443:         // search the first internal register request to be processed
fp@2443:         list_for_each_entry(reg, &slave->config->reg_requests, list) {
fp@2443:             if (reg->state == EC_INT_REQUEST_QUEUED) {
fp@2443:                 fsm->reg_request = reg;
fp@2443:                 break;
fp@2443:             }
fp@2443:         }
fp@2443:     }
fp@2443: 
fp@2462:     if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {
fp@2462:         // take the first external request to be processed
fp@2462:         fsm->reg_request =
fp@2462:             list_entry(slave->reg_requests.next, ec_reg_request_t, list);
fp@2462:         list_del_init(&fsm->reg_request->list); // dequeue
fp@2443:     }
fp@2443: 
fp@2443:     if (!fsm->reg_request) { // no register request to process
fp@2443:         return 0;
fp@2443:     }
fp@2443: 
fp@2443:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@2443:         EC_SLAVE_WARN(slave, "Aborting register request,"
fp@2443:                 " slave has error flag set.\n");
fp@2462:         fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->reg_request = NULL;
fp@2443:         fsm->state = ec_fsm_slave_state_idle;
fp@2443:         return 1;
fp@2443:     }
fp@2443: 
fp@2443:     // Found pending register request. Execute it!
fp@2443:     EC_SLAVE_DBG(slave, 1, "Processing register request...\n");
fp@2443: 
fp@2462:     fsm->reg_request->state = EC_INT_REQUEST_BUSY;
fp@2443: 
fp@2443:     // Start register access
fp@2462:     if (fsm->reg_request->dir == EC_DIR_INPUT) {
fp@2498:         ec_datagram_fprd(datagram, slave->station_address,
fp@2462:                 fsm->reg_request->address, fsm->reg_request->transfer_size);
fp@2498:         ec_datagram_zero(datagram);
fp@2443:     } else {
fp@2498:         ec_datagram_fpwr(datagram, slave->station_address,
fp@2462:                 fsm->reg_request->address, fsm->reg_request->transfer_size);
fp@2498:         memcpy(datagram->data, fsm->reg_request->data,
fp@2462:                 fsm->reg_request->transfer_size);
fp@2443:     }
fp@2498:     datagram->device_index = slave->device_index;
fp@2443:     fsm->state = ec_fsm_slave_state_reg_request;
fp@2443:     return 1;
fp@2443: }
fp@2443: 
fp@2443: /*****************************************************************************/
fp@2443: 
fp@2443: /** Slave state: Register request.
fp@2443:  */
fp@2443: void ec_fsm_slave_state_reg_request(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2443:         )
fp@2443: {
fp@2443:     ec_slave_t *slave = fsm->slave;
fp@2443:     ec_reg_request_t *reg = fsm->reg_request;
fp@2443: 
fp@2459:     if (!reg) {
fp@2459:         // configuration was cleared in the meantime
fp@2459:         fsm->state = ec_fsm_slave_state_ready;
fp@2498:         fsm->reg_request = NULL;
fp@2459:         return;
fp@2459:     }
fp@2459: 
fp@2443:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@2443:         EC_SLAVE_ERR(slave, "Failed to receive register"
fp@2443:                 " request datagram: ");
fp@2443:         ec_datagram_print_state(fsm->datagram);
fp@2443:         reg->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->reg_request = NULL;
fp@2443:         fsm->state = ec_fsm_slave_state_ready;
fp@2443:         return;
fp@2443:     }
fp@2443: 
fp@2443:     if (fsm->datagram->working_counter == 1) {
fp@2443:         if (reg->dir == EC_DIR_INPUT) { // read request
fp@2443:             memcpy(reg->data, fsm->datagram->data, reg->transfer_size);
fp@2443:         }
fp@2443: 
fp@2443:         reg->state = EC_INT_REQUEST_SUCCESS;
fp@2443:         EC_SLAVE_DBG(slave, 1, "Register request successful.\n");
fp@2443:     } else {
fp@2443:         reg->state = EC_INT_REQUEST_FAILURE;
fp@2443:         ec_datagram_print_state(fsm->datagram);
fp@2443:         EC_SLAVE_ERR(slave, "Register request failed"
fp@2443:                 " (working counter is %u).\n",
fp@2443:                 fsm->datagram->working_counter);
fp@2443:     }
fp@2443: 
fp@2498:     wake_up_all(&slave->master->request_queue);
fp@2467:     fsm->reg_request = NULL;
fp@2443:     fsm->state = ec_fsm_slave_state_ready;
fp@2443: }
fp@2443: 
fp@2443: /*****************************************************************************/
fp@2443: 
fp@2442: /** Check for pending FoE requests and process one.
fp@2442:  *
fp@2442:  * \return non-zero, if an FoE request is processed.
fp@1831:  */
fp@1831: int ec_fsm_slave_action_process_foe(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@2464:     ec_foe_request_t *request;
fp@2464: 
fp@2464:     if (list_empty(&slave->foe_requests)) {
fp@2464:         return 0;
fp@2464:     }
fp@2464: 
fp@2464:     // take the first request to be processed
fp@2464:     request = list_entry(slave->foe_requests.next, ec_foe_request_t, list);
fp@2464:     list_del_init(&request->list); // dequeue
fp@2464: 
fp@2464:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@2464:         EC_SLAVE_WARN(slave, "Aborting FoE request,"
fp@2464:                 " slave has error flag set.\n");
fp@2464:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->state = ec_fsm_slave_state_idle;
fp@2467:         return 1;
fp@2464:     }
fp@2464: 
fp@2464:     request->state = EC_INT_REQUEST_BUSY;
fp@2498:     fsm->foe_request = request;
fp@2464: 
fp@2464:     EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
fp@2464: 
fp@2464:     fsm->state = ec_fsm_slave_state_foe_request;
fp@2464:     ec_fsm_foe_transfer(&fsm->fsm_foe, slave, request);
fp@2498:     ec_fsm_foe_exec(&fsm->fsm_foe, datagram);
fp@2464:     return 1;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
martin@1597: /** Slave state: FOE REQUEST.
martin@1597:  */
martin@1597: void ec_fsm_slave_state_foe_request(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
martin@1597:         )
martin@1597: {
martin@1597:     ec_slave_t *slave = fsm->slave;
martin@1597:     ec_foe_request_t *request = fsm->foe_request;
martin@1597: 
fp@2498:     if (ec_fsm_foe_exec(&fsm->fsm_foe, datagram)) {
martin@1597:         return;
martin@1597:     }
martin@1597: 
martin@1597:     if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
martin@1597:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
martin@1597:         fsm->foe_request = NULL;
fp@2442:         fsm->state = ec_fsm_slave_state_ready;
martin@1597:         return;
martin@1597:     }
martin@1597: 
martin@1597:     // finished transferring FoE
fp@1930:     EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
fp@1921:             " data.\n", request->data_size);
martin@1597: 
martin@1597:     request->state = EC_INT_REQUEST_SUCCESS;
fp@2498:     wake_up_all(&slave->master->request_queue);
martin@1597:     fsm->foe_request = NULL;
fp@1804:     fsm->state = ec_fsm_slave_state_ready;
fp@1804: }
fp@1804: 
fp@1804: /*****************************************************************************/
fp@1831: 
fp@1831: /** Check for pending SoE requests and process one.
fp@1831:  *
fp@1831:  * \return non-zero, if a request is processed.
fp@1831:  */
fp@1831: int ec_fsm_slave_action_process_soe(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@2465:     ec_soe_request_t *req;
fp@2465: 
fp@2465:     if (list_empty(&slave->soe_requests)) {
fp@2465:         return 0;
fp@2465:     }
fp@2465: 
fp@2465:     // take the first request to be processed
fp@2465:     req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);
fp@2465:     list_del_init(&req->list); // dequeue
fp@2465: 
fp@2465:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@2465:         EC_SLAVE_WARN(slave, "Aborting SoE request,"
fp@2465:                 " slave has error flag set.\n");
fp@2465:         req->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->state = ec_fsm_slave_state_idle;
fp@2467:         return 1;
fp@2465:     }
fp@2465: 
fp@2465:     if (slave->current_state == EC_SLAVE_STATE_INIT) {
fp@2465:         EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
fp@2465:         req->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@2467:         fsm->state = ec_fsm_slave_state_idle;
fp@2465:         return 0;
fp@2465:     }
fp@2465: 
fp@2498:     fsm->soe_request = req;
fp@2465:     req->state = EC_INT_REQUEST_BUSY;
fp@2465: 
fp@2465:     // Found pending request. Execute it!
fp@2465:     EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
fp@2465: 
fp@2465:     // Start SoE transfer
fp@2465:     fsm->state = ec_fsm_slave_state_soe_request;
fp@2465:     ec_fsm_soe_transfer(&fsm->fsm_soe, slave, req);
fp@2498:     ec_fsm_soe_exec(&fsm->fsm_soe, datagram); // execute immediately
fp@2465:     return 1;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Slave state: SOE_REQUEST.
fp@1831:  */
fp@1831: void ec_fsm_slave_state_soe_request(
fp@2498:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@1831:     ec_soe_request_t *request = fsm->soe_request;
fp@1831: 
fp@2498:     if (ec_fsm_soe_exec(&fsm->fsm_soe, datagram)) {
fp@1831:         return;
fp@1831:     }
fp@1831: 
fp@1831:     if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
fp@1831:         request->state = EC_INT_REQUEST_FAILURE;
fp@2498:         wake_up_all(&slave->master->request_queue);
fp@1831:         fsm->soe_request = NULL;
fp@2442:         fsm->state = ec_fsm_slave_state_ready;
fp@1831:         return;
fp@1831:     }
fp@1831: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Finished SoE request.\n");
fp@1831: 
fp@1831:     // SoE request finished
fp@1831:     request->state = EC_INT_REQUEST_SUCCESS;
fp@2498:     wake_up_all(&slave->master->request_queue);
fp@1831:     fsm->soe_request = NULL;
fp@1831:     fsm->state = ec_fsm_slave_state_ready;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/