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Each slave got its own SDO state machine (faster handling of external SDO requests)

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This commit is contained in:
Martin Troxler
2009-11-26 15:33:48 +01:00
parent 286a65516b
commit 0d17968348
13 changed files with 388 additions and 73 deletions
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master/fsm_master.c
+10 -43
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@@ -60,6 +60,7 @@ void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
void ec_fsm_master_state_reg_request(ec_fsm_master_t *);
void ec_fsm_master_state_foe_request(ec_fsm_master_t *);
/*****************************************************************************/
/** Constructor.
@@ -115,18 +116,21 @@ void ec_fsm_master_clear(
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*
* \return true, if the state machine was executed
*/
void ec_fsm_master_exec(
int ec_fsm_master_exec(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
return;
return 0;
}
fsm->state(fsm);
return 1;
}
/*****************************************************************************/
@@ -411,7 +415,6 @@ int ec_fsm_master_action_process_sdo(
ec_master_t *master = fsm->master;
ec_slave_t *slave;
ec_sdo_request_t *req;
ec_master_sdo_request_t *request;
// search for internal requests to be processed
for (slave = master->slaves;
@@ -425,7 +428,7 @@ int ec_fsm_master_action_process_sdo(
if (ec_sdo_request_timed_out(req)) {
req->state = EC_INT_REQUEST_FAILURE;
if (master->debug_level)
EC_DBG("SDO request for slave %u timed out...\n",
EC_DBG("Internal SDO request for slave %u timed out...\n",
slave->ring_position);
continue;
}
@@ -437,7 +440,7 @@ int ec_fsm_master_action_process_sdo(
req->state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
EC_DBG("Processing SDO request for slave %u...\n",
EC_DBG("Processing internal SDO request for slave %u...\n",
slave->ring_position);
fsm->idle = 0;
@@ -450,42 +453,6 @@ int ec_fsm_master_action_process_sdo(
}
}
}
// search the first external request to be processed
while (1) {
if (list_empty(&master->slave_sdo_requests))
break;
// get first request
request = list_entry(master->slave_sdo_requests.next,
ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
continue;
}
// Found pending SDO request. Execute it!
if (master->debug_level)
EC_DBG("Processing SDO request for slave %u...\n",
slave->ring_position);
// Start uploading SDO
fsm->idle = 0;
fsm->sdo_request = &request->req;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_request;
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return 1;
}
return 0;
}
@@ -1047,7 +1014,7 @@ void ec_fsm_master_state_sdo_request(
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
EC_DBG("Failed to process SDO request for slave %u.\n",
EC_DBG("Failed to process internal SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
@@ -1060,7 +1027,7 @@ void ec_fsm_master_state_sdo_request(
wake_up(&master->sdo_queue);
if (master->debug_level)
EC_DBG("Finished SDO request for slave %u.\n",
EC_DBG("Finished internal SDO request for slave %u.\n",
fsm->slave->ring_position);
// check for another SDO request