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undone changes of revision 1547: Abort SDO/FOE requests when slave is in INIT

This commit is contained in:
Martin Troxler 2009-12-18 10:35:53 +01:00
parent 8d4a5ed16a
commit 1f23c5c2d2
1 changed files with 22 additions and 11 deletions
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33
master/fsm_slave.c
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@ -62,7 +62,9 @@ void ec_fsm_slave_init(
fsm->slave = slave;
fsm->datagram = datagram;
fsm->datagram->data_size = 0;
fsm->state = ec_fsm_slave_state_idle;
if (slave->master->debug_level)
EC_DBG("init fsm for slave %u...\n",slave->ring_position);
fsm->state = ec_fsm_slave_state_idle;
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@ -177,20 +179,26 @@ int ec_fsm_slave_action_process_sdo(
// 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_WARN("Postponing SDO request, slave %u has ERROR.\n",
EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
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_WARN("Postponing SDO request, slave %u is in INIT.\n",
slave->ring_position);
EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_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;
}
request->req.state = EC_INT_REQUEST_BUSY;
// Found pending SDO request. Execute it!
if (master->debug_level)
@ -226,8 +234,11 @@ int ec_fsm_slave_action_process_foe(
// 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_WARN("Postponing FOE request, slave %u has ERROR.\n",
EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
@ -271,9 +282,9 @@ void ec_fsm_slave_state_sdo_request(
EC_DBG("Failed to process SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
wake_up(&slave->foe_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return;
}