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/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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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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 *

    18

 *  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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 *

    22

 *  ---

    23

 *

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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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 *****************************************************************************/

    29

    30

/** \file

    31

 * EtherCAT slave (SDO) state machine.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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    41

#include "fsm_slave.h"

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    43

/*****************************************************************************/

    44

    45

void ec_fsm_slave_state_idle(ec_fsm_slave_t *, ec_datagram_t *);

    46

void ec_fsm_slave_state_ready(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *, ec_datagram_t *);

    49

int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *, ec_datagram_t *);

    50

void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *, ec_datagram_t *);

    51

int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_eoe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_eoe_request(ec_fsm_slave_t *, ec_datagram_t *);

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    58

/*****************************************************************************/

    59

    60

/** Constructor.

    61

 */

    62

void ec_fsm_slave_init(

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        ec_fsm_slave_t *fsm, /**< Slave state machine. */

    64

        ec_slave_t *slave /**< EtherCAT slave. */

    65

        )

    66

{

    67

    fsm->slave = slave;

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    INIT_LIST_HEAD(&fsm->list); // mark as unlisted

    69

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    fsm->state = ec_fsm_slave_state_idle;

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    fsm->datagram = NULL;

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    fsm->sdo_request = NULL;

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    fsm->reg_request = NULL;

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    fsm->foe_request = NULL;

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    fsm->soe_request = NULL;

    76

    fsm->eoe_request = NULL;

    77

    78

    // Init sub-state-machines

    79

    ec_fsm_coe_init(&fsm->fsm_coe);

    80

    ec_fsm_foe_init(&fsm->fsm_foe);

    81

    ec_fsm_soe_init(&fsm->fsm_soe);

    82

    ec_fsm_eoe_init(&fsm->fsm_eoe);

    83

}

    84

    85

/*****************************************************************************/

    86

    87

/** Destructor.

    88

 */

    89

void ec_fsm_slave_clear(

    90

        ec_fsm_slave_t *fsm /**< Master state machine. */

    91

        )

    92

{

    93

    // signal requests that are currently in operation

    94

    95

    if (fsm->sdo_request) {

    96

        fsm->sdo_request->state = EC_INT_REQUEST_FAILURE;

    97

        wake_up_all(&fsm->slave->master->request_queue);

    98

    }

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   100

    if (fsm->reg_request) {

   101

        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;

   102

        wake_up_all(&fsm->slave->master->request_queue);

   103

    }

   104

   105

    if (fsm->foe_request) {

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        fsm->foe_request->state = EC_INT_REQUEST_FAILURE;

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        wake_up_all(&fsm->slave->master->request_queue);

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    }

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   110

    if (fsm->soe_request) {

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        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;

   112

        wake_up_all(&fsm->slave->master->request_queue);

   113

    }

   114

   115

    if (fsm->eoe_request) {

   116

        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;

   117

        wake_up_all(&fsm->slave->master->request_queue);

   118

    }

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   120

    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

   122

    ec_fsm_foe_clear(&fsm->fsm_foe);

   123

    ec_fsm_soe_clear(&fsm->fsm_soe);

   124

    ec_fsm_eoe_clear(&fsm->fsm_eoe);

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}

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   127

/*****************************************************************************/

   128

   129

/** Executes the current state of the state machine.

   130

 *

   131

 * \return 1 if \a datagram was used, else 0.

   132

 */

   133

int ec_fsm_slave_exec(

   134

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   135

        ec_datagram_t *datagram /**< New datagram to use. */

   136

        )

   137

{

   138

    int datagram_used;

   139

   140

    fsm->state(fsm, datagram);

   141

   142

    datagram_used = fsm->state != ec_fsm_slave_state_idle &&

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        fsm->state != ec_fsm_slave_state_ready;

   144

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    if (datagram_used) {

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        fsm->datagram = datagram;

   147

    } else {

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        fsm->datagram = NULL;

   149

    }

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   151

    return datagram_used;

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}

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   154

/*****************************************************************************/

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   156

/** Sets the current state of the state machine to READY

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 */

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void ec_fsm_slave_set_ready(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

   162

    if (fsm->state == ec_fsm_slave_state_idle) {

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        EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");

   164

        fsm->state = ec_fsm_slave_state_ready;

   165

    }

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}

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   168

/*****************************************************************************/

   169

   170

/** Returns, if the FSM is currently not busy and ready to execute.

   171

 *

   172

 * \return Non-zero if ready.

   173

 */

   174

int ec_fsm_slave_is_ready(

   175

        const ec_fsm_slave_t *fsm /**< Slave state machine. */

   176

        )

   177

{

   178

    return fsm->state == ec_fsm_slave_state_ready;

   179

}

   180

   181

/******************************************************************************

   182

 * Slave state machine

   183

 *****************************************************************************/

   184

   185

/** Slave state: IDLE.

   186

 */

   187

void ec_fsm_slave_state_idle(

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        ec_fsm_slave_t *fsm, /**< Slave state machine. */

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        ec_datagram_t *datagram /**< Datagram to use. */

   190

        )

   191

{

   192

    // do nothing

   193

}

   194

   195

/*****************************************************************************/

   196

   197

/** Slave state: READY.

   198

 */

   199

void ec_fsm_slave_state_ready(

   200

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   201

        ec_datagram_t *datagram /**< Datagram to use. */

   202

        )

   203

{

   204

    // Check for pending external SDO requests

   205

    if (ec_fsm_slave_action_process_sdo(fsm, datagram)) {

   206

        return;

   207

    }

   208

   209

    // Check for pending external register requests

   210

    if (ec_fsm_slave_action_process_reg(fsm, datagram)) {

   211

        return;

   212

    }

   213

   214

    // Check for pending FoE requests

   215

    if (ec_fsm_slave_action_process_foe(fsm, datagram)) {

   216

        return;

   217

    }

   218

   219

    // Check for pending SoE requests

   220

    if (ec_fsm_slave_action_process_soe(fsm, datagram)) {

   221

        return;

   222

    }

   223

   224

    // Check for pending EoE IP parameter requests

   225

    if (ec_fsm_slave_action_process_eoe(fsm, datagram)) {

   226

        return;

   227

    }

   228

}

   229

   230

/*****************************************************************************/

   231

   232

/** Check for pending SDO requests and process one.

   233

 *

   234

 * \return non-zero, if an SDO request is processed.

   235

 */

   236

int ec_fsm_slave_action_process_sdo(

   237

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   238

        ec_datagram_t *datagram /**< Datagram to use. */

   239

        )

   240

{

   241

    ec_slave_t *slave = fsm->slave;

   242

    ec_sdo_request_t *request;

   243

   244

    if (list_empty(&slave->sdo_requests)) {

   245

        return 0;

   246

    }

   247

   248

    // take the first request to be processed

   249

    request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);

   250

    list_del_init(&request->list); // dequeue

   251

   252

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   253

        EC_SLAVE_WARN(slave, "Aborting SDO request,"

   254

                " slave has error flag set.\n");

   255

        request->state = EC_INT_REQUEST_FAILURE;

   256

        wake_up_all(&slave->master->request_queue);

   257

        fsm->state = ec_fsm_slave_state_idle;

   258

        return 0;

   259

    }

   260

   261

    if (slave->current_state == EC_SLAVE_STATE_INIT) {

   262

        EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");

   263

        request->state = EC_INT_REQUEST_FAILURE;

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        wake_up_all(&slave->master->request_queue);

   265

        fsm->state = ec_fsm_slave_state_idle;

   266

        return 0;

   267

    }

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   269

    fsm->sdo_request = request;

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    request->state = EC_INT_REQUEST_BUSY;

   271

   272

    // Found pending SDO request. Execute it!

   273

    EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");

   274

   275

    // Start SDO transfer

   276

    fsm->state = ec_fsm_slave_state_sdo_request;

   277

    ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);

   278

    ec_fsm_coe_exec(&fsm->fsm_coe, datagram); // execute immediately

   279

    return 1;

   280

}

   281

   282

/*****************************************************************************/

   283

   284

/** Slave state: SDO_REQUEST.

   285

 */

   286

void ec_fsm_slave_state_sdo_request(

   287

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   288

        ec_datagram_t *datagram /**< Datagram to use. */

   289

        )

   290

{

   291

    ec_slave_t *slave = fsm->slave;

   292

    ec_sdo_request_t *request = fsm->sdo_request;

   293

   294

    if (ec_fsm_coe_exec(&fsm->fsm_coe, datagram)) {

   295

        return;

   296

    }

   297

   298

    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {

   299

        EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");

   300

        request->state = EC_INT_REQUEST_FAILURE;

   301

        wake_up_all(&slave->master->request_queue);

   302

        fsm->sdo_request = NULL;

   303

        fsm->state = ec_fsm_slave_state_ready;

   304

        return;

   305

    }

   306

   307

    EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");

   308

   309

    // SDO request finished

   310

    request->state = EC_INT_REQUEST_SUCCESS;

   311

    wake_up_all(&slave->master->request_queue);

   312

    fsm->sdo_request = NULL;

   313

    fsm->state = ec_fsm_slave_state_ready;

   314

}

   315

   316

/*****************************************************************************/

   317

   318

/** Check for pending register requests and process one.

   319

 *

   320

 * \return non-zero, if a register request is processed.

   321

 */

   322

int ec_fsm_slave_action_process_reg(

   323

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   324

        ec_datagram_t *datagram /**< Datagram to use. */

   325

        )

   326

{

   327

    ec_slave_t *slave = fsm->slave;

   328

    ec_reg_request_t *reg;

   329

   330

    fsm->reg_request = NULL;

   331

   332

    if (slave->config) {

   333

        // search the first internal register request to be processed

   334

        list_for_each_entry(reg, &slave->config->reg_requests, list) {

   335

            if (reg->state == EC_INT_REQUEST_QUEUED) {

   336

                fsm->reg_request = reg;

   337

                break;

   338

            }

   339

        }

   340

    }

   341

   342

    if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {

   343

        // take the first external request to be processed

   344

        fsm->reg_request =

   345

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   346

        list_del_init(&fsm->reg_request->list); // dequeue

   347

    }

   348

   349

    if (!fsm->reg_request) { // no register request to process

   350

        return 0;

   351

    }

   352

   353

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   354

        EC_SLAVE_WARN(slave, "Aborting register request,"

   355

                " slave has error flag set.\n");

   356

        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;

   357

        wake_up_all(&slave->master->request_queue);

   358

        fsm->reg_request = NULL;

   359

        fsm->state = ec_fsm_slave_state_idle;

   360

        return 0;

   361

    }

   362

   363

    // Found pending register request. Execute it!

   364

    EC_SLAVE_DBG(slave, 1, "Processing register request...\n");

   365

   366

    fsm->reg_request->state = EC_INT_REQUEST_BUSY;

   367

   368

    // Start register access

   369

    if (fsm->reg_request->dir == EC_DIR_INPUT) {

   370

        ec_datagram_fprd(datagram, slave->station_address,

   371

                fsm->reg_request->address, fsm->reg_request->transfer_size);

   372

        ec_datagram_zero(datagram);

   373

    } else {

   374

        ec_datagram_fpwr(datagram, slave->station_address,

   375

                fsm->reg_request->address, fsm->reg_request->transfer_size);

   376

        memcpy(datagram->data, fsm->reg_request->data,

   377

                fsm->reg_request->transfer_size);

   378

    }

   379

    datagram->device_index = slave->device_index;

   380

    fsm->state = ec_fsm_slave_state_reg_request;

   381

    return 1;

   382

}

   383

   384

/*****************************************************************************/

   385

   386

/** Slave state: Register request.

   387

 */

   388

void ec_fsm_slave_state_reg_request(

   389

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   390

        ec_datagram_t *datagram /**< Datagram to use. */

   391

        )

   392

{

   393

    ec_slave_t *slave = fsm->slave;

   394

    ec_reg_request_t *reg = fsm->reg_request;

   395

   396

    if (!reg) {

   397

        // configuration was cleared in the meantime

   398

        fsm->state = ec_fsm_slave_state_ready;

   399

        fsm->reg_request = NULL;

   400

        return;

   401

    }

   402

   403

    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {

   404

        EC_SLAVE_ERR(slave, "Failed to receive register"

   405

                " request datagram: ");

   406

        ec_datagram_print_state(fsm->datagram);

   407

        reg->state = EC_INT_REQUEST_FAILURE;

   408

        wake_up_all(&slave->master->request_queue);

   409

        fsm->reg_request = NULL;

   410

        fsm->state = ec_fsm_slave_state_ready;

   411

        return;

   412

    }

   413

   414

    if (fsm->datagram->working_counter == 1) {

   415

        if (reg->dir == EC_DIR_INPUT) { // read request

   416

            memcpy(reg->data, fsm->datagram->data, reg->transfer_size);

   417

        }

   418

   419

        reg->state = EC_INT_REQUEST_SUCCESS;

   420

        EC_SLAVE_DBG(slave, 1, "Register request successful.\n");

   421

    } else {

   422

        reg->state = EC_INT_REQUEST_FAILURE;

   423

        ec_datagram_print_state(fsm->datagram);

   424

        EC_SLAVE_ERR(slave, "Register request failed"

   425

                " (working counter is %u).\n",

   426

                fsm->datagram->working_counter);

   427

    }

   428

   429

    wake_up_all(&slave->master->request_queue);

   430

    fsm->reg_request = NULL;

   431

    fsm->state = ec_fsm_slave_state_ready;

   432

}

   433

   434

/*****************************************************************************/

   435

   436

/** Check for pending FoE requests and process one.

   437

 *

   438

 * \return non-zero, if an FoE request is processed.

   439

 */

   440

int ec_fsm_slave_action_process_foe(

   441

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   442

        ec_datagram_t *datagram /**< Datagram to use. */

   443

        )

   444

{

   445

    ec_slave_t *slave = fsm->slave;

   446

    ec_foe_request_t *request;

   447

   448

    if (list_empty(&slave->foe_requests)) {

   449

        return 0;

   450

    }

   451

   452

    // take the first request to be processed

   453

    request = list_entry(slave->foe_requests.next, ec_foe_request_t, list);

   454

    list_del_init(&request->list); // dequeue

   455

   456

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   457

        EC_SLAVE_WARN(slave, "Aborting FoE request,"

   458

                " slave has error flag set.\n");

   459

        request->state = EC_INT_REQUEST_FAILURE;

   460

        wake_up_all(&slave->master->request_queue);

   461

        fsm->state = ec_fsm_slave_state_idle;

   462

        return 0;

   463

    }

   464

   465

    request->state = EC_INT_REQUEST_BUSY;

   466

    fsm->foe_request = request;

   467

   468

    EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");

   469

   470

    fsm->state = ec_fsm_slave_state_foe_request;

   471

    ec_fsm_foe_transfer(&fsm->fsm_foe, slave, request);

   472

    ec_fsm_foe_exec(&fsm->fsm_foe, datagram);

   473

    return 1;

   474

}

   475

   476

/*****************************************************************************/

   477

   478

/** Slave state: FOE REQUEST.

   479

 */

   480

void ec_fsm_slave_state_foe_request(

   481

        ec_fsm_slave_t *fsm, /**< Slave state machine. */

   482

        ec_datagram_t *datagram /**< Datagram to use. */

   483

        )

   484

{

   485

    ec_slave_t *slave = fsm->slave;

   486

    ec_foe_request_t *request = fsm->foe_request;

   487

   488

    if (ec_fsm_foe_exec(&fsm->fsm_foe, datagram)) {

   489

        return;

   490

    }

   491

   492

    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {

   493

        EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");

   494

        request->state = EC_INT_REQUEST_FAILURE;

   495

        wake_up_all(&slave->master->request_queue);

   496

        fsm->foe_request = NULL;