master/fsm_slave.c
author Florian Pose <fp@igh-essen.com>
Tue, 05 Jan 2010 13:44:46 +0100
changeset 1592 0f070a230401
parent 1583 017fa8fd9ac1
child 1596 ea8d2b4ee742
permissions -rw-r--r--
Removed 'Preliminary'.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT slave (SDO) state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_slave.h"
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/*****************************************************************************/
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void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_slave_init(
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        ec_fsm_slave_t *fsm, /**< Slave state machine. */
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        ec_slave_t *slave, /**< EtherCAT slave. */
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        ec_datagram_t *datagram /**< Datagram object to use. */
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        )
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{
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    fsm->slave = slave;
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    fsm->datagram = datagram;
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    fsm->datagram->data_size = 0;
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    fsm->state = ec_fsm_slave_state_idle;
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    // init sub-state-machines
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    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_slave_clear(
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        ec_fsm_slave_t *fsm /**< Master state machine. */
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        )
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{
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    // clear sub-state machines
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    ec_fsm_coe_clear(&fsm->fsm_coe);
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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 * If the state machine's datagram is not sent or received yet, the execution
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 * of the state machine is delayed to the next cycle.
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 */
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void ec_fsm_slave_exec(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    if (fsm->datagram->state == EC_DATAGRAM_SENT
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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
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        // datagram was not sent or received yet.
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        return;
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    }
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    fsm->state(fsm);
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    return;
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}
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/******************************************************************************
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 * Slave state machine
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 *****************************************************************************/
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/** Slave state: IDLE.
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 *
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 * Check for pending SDO requests and process one.
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 *
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 */
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void ec_fsm_slave_state_idle(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_master_sdo_request_t *request, *next;
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    // search the first matching external request to be processed
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    list_for_each_entry_safe(request, next, &master->slave_sdo_requests, list) {
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        if (request->slave != slave)
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            continue;
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        list_del_init(&request->list); // dequeue
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        request->req.state = EC_INT_REQUEST_BUSY;
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   123
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        if (slave->current_state == EC_SLAVE_STATE_INIT) {
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            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
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                    slave->ring_position);
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            request->req.state = EC_INT_REQUEST_FAILURE;
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            wake_up(&master->sdo_queue);
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            continue;
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        }
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        // Found pending SDO request. Execute it!
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        if (master->debug_level)
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            EC_DBG("Processing SDO request for slave %u...\n",
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                    slave->ring_position);
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        // Start SDO transfer
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        fsm->sdo_request = &request->req;
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        fsm->state = ec_fsm_slave_state_sdo_request;
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        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
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        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
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        ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
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        return;
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    }
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}
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/*****************************************************************************/
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/** Slave state: SDO_REQUEST.
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 */
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void ec_fsm_slave_state_sdo_request(
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        ec_fsm_slave_t *fsm /**< Slave state machine. */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_master_t *master = slave->master;
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    ec_sdo_request_t *request = fsm->sdo_request;
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   158
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   159
    if (ec_fsm_coe_exec(&fsm->fsm_coe))
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    {
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        ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
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        return;
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   163
    }
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    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
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        EC_DBG("Failed to process SDO request for slave %u.\n",
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                fsm->slave->ring_position);
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        request->state = EC_INT_REQUEST_FAILURE;
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        wake_up(&master->sdo_queue);
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        fsm->sdo_request = NULL;
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        fsm->state = ec_fsm_slave_state_idle;
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        return;
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   172
    }
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   173
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    // SDO request finished
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   175
    request->state = EC_INT_REQUEST_SUCCESS;
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   176
    wake_up(&master->sdo_queue);
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   177
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   178
    if (master->debug_level)
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        EC_DBG("Finished SDO request for slave %u.\n",
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                fsm->slave->ring_position);
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   181
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    fsm->sdo_request = NULL;
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   183
    fsm->datagram->data_size = 0;
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   184
    fsm->state = ec_fsm_slave_state_idle;
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   185
}