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ethercat
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SDO dictionary and SDO access only in IDLE mode, because of kmalloc()s.

This commit is contained in:
Florian Pose 2006-10-25 07:41:14 +00:00
parent 5ae68fa1db
commit 1a75b5c32a
1 changed files with 54 additions and 53 deletions
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107
master/fsm.c
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@ -557,65 +557,66 @@ void ec_fsm_master_action_process_states(ec_fsm_t *fsm
// Check, if EoE processing has to be started
ec_master_eoe_start(master);
// Check for a pending SDO request
if (master->sdo_seq_master != master->sdo_seq_user) {
if (master->debug_level)
EC_DBG("Processing SDO request...\n");
slave = master->sdo_request->sdo->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT
|| !slave->online
|| slave->error_flag) {
EC_ERR("Failed to process SDO request, slave %i not ready.\n",
slave->ring_position);
master->sdo_request->return_code = -1;
master->sdo_seq_master++;
if (master->mode == EC_MASTER_MODE_IDLE) {
// Check for a pending SDO request
if (master->sdo_seq_master != master->sdo_seq_user) {
if (master->debug_level)
EC_DBG("Processing SDO request...\n");
slave = master->sdo_request->sdo->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT
|| !slave->online
|| slave->error_flag) {
EC_ERR("Failed to process SDO request, slave %i not ready.\n",
slave->ring_position);
master->sdo_request->return_code = -1;
master->sdo_seq_master++;
}
else {
// start uploading SDO
fsm->slave = slave;
fsm->master_state = ec_fsm_master_sdo_request;
fsm->sdo_request = master->sdo_request;
ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
}
else {
// start uploading SDO
// check, if slaves have an SDO dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| !slave->online
|| slave->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching SDO dictionary from slave %i.\n",
slave->ring_position);
}
if (kobject_add(&slave->sdo_kobj)) {
EC_ERR("Failed to add SDO kobj of slave %i.\n",
slave->ring_position);
slave->error_flag = 1;
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
slave->sdo_dictionary_fetched = 1;
// start fetching SDO dictionary
fsm->slave = slave;
fsm->master_state = ec_fsm_master_sdo_request;
fsm->sdo_request = master->sdo_request;
ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
fsm->master_state = ec_fsm_master_sdodict;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
}
// check, if slaves have an SDO dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
|| !slave->online
|| slave->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching SDO dictionary from slave %i.\n",
slave->ring_position);
}
if (kobject_add(&slave->sdo_kobj)) {
EC_ERR("Failed to add SDO kobj of slave %i.\n",
slave->ring_position);
slave->error_flag = 1;
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
slave->sdo_dictionary_fetched = 1;
// start fetching SDO dictionary
fsm->slave = slave;
fsm->master_state = ec_fsm_master_sdodict;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
if (master->mode == EC_MASTER_MODE_IDLE) {
// nothing to configure. check for pending EEPROM write operations.
// check for pending EEPROM write operations.
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->new_eeprom_data) continue;