1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT slave (SDO) state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

    38

#include "mailbox.h"

    39

    40

#include "fsm_slave.h"

    41

    42

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

    43

    44

void ec_fsm_slave_state_idle(ec_fsm_slave_t *);

    45

void ec_fsm_slave_state_ready(ec_fsm_slave_t *);

    46

int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);

    47

void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);

    48

int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);

    49

void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);

    50

int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);

    51

void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);

    52

    53

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

    54

    55

/** Constructor.

    56

 */

    57

void ec_fsm_slave_init(

    58

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

    59

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

    60

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

    61

        )

    62

{

    63

    fsm->slave = slave;

    64

    fsm->datagram = datagram;

    65

    fsm->datagram->data_size = 0;

    66

    67

    if (slave->master->debug_level)

    68

        EC_DBG("Init FSM for slave %u...\n", slave->ring_position);

    69

    70

    fsm->state = ec_fsm_slave_state_idle;

    71

    72

    // init sub-state-machines

    73

    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);

    74

    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);

    75

    ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);

    76

}

    77

    78

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

    79

    80

/** Destructor.

    81

 */

    82

void ec_fsm_slave_clear(

    83

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

    84

        )

    85

{

    86

    // clear sub-state machines

    87

    ec_fsm_coe_clear(&fsm->fsm_coe);

    88

    ec_fsm_foe_clear(&fsm->fsm_foe);

    89

    ec_fsm_soe_clear(&fsm->fsm_soe);

    90

}

    91

    92

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

    93

    94

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

    95

 *

    96

 * If the state machine's datagram is not sent or received yet, the execution

    97

 * of the state machine is delayed to the next cycle.

    98

 */

    99

void ec_fsm_slave_exec(

   100

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

   101

        )

   102

{

   103

    if (fsm->datagram->state == EC_DATAGRAM_SENT

   104

        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {

   105

        // datagram was not sent or received yet.

   106

        return;

   107

    }

   108

   109

    fsm->state(fsm);

   110

    return;

   111

}

   112

   113

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

   114

   115

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

   116

 */

   117

void ec_fsm_slave_ready(

   118

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

   119

        )

   120

{

   121

    if (fsm->state == ec_fsm_slave_state_idle) {

   122

        if (fsm->slave->master->debug_level) {

   123

            EC_DBG("Slave %u ready for requests.\n",

   124

                    fsm->slave->ring_position);

   125

        }

   126

        fsm->state = ec_fsm_slave_state_ready;

   127

    }

   128

}

   129

   130

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

   131

 * Slave state machine

   132

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

   133

   134

/** Slave state: IDLE.

   135

 */

   136

void ec_fsm_slave_state_idle(

   137

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

   138

        )

   139

{

   140

    // do nothing

   141

}

   142

   143

   144

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

   145

   146

/** Slave state: READY.

   147

 */

   148

void ec_fsm_slave_state_ready(

   149

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

   150

        )

   151

{

   152

    // Check for pending external SDO requests

   153

    if (ec_fsm_slave_action_process_sdo(fsm))

   154

        return;

   155

   156

    // Check for pending FoE requests

   157

    if (ec_fsm_slave_action_process_foe(fsm))

   158

        return;

   159

   160

    // Check for pending SoE requests

   161

    if (ec_fsm_slave_action_process_soe(fsm))

   162

        return;

   163

}

   164

   165

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

   166

   167

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

   168

 *

   169

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

   170

 */

   171

int ec_fsm_slave_action_process_sdo(

   172

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

   173

        )

   174

{

   175

    ec_slave_t *slave = fsm->slave;

   176

    ec_master_t *master = slave->master;

   177

    ec_master_sdo_request_t *request, *next;

   178

   179

    // search the first external request to be processed

   180

    list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {

   181

   182

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

   183

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   184

            EC_WARN("Aborting SDO request, slave %u has ERROR.\n",

   185

                    slave->ring_position);

   186

            request->req.state = EC_INT_REQUEST_FAILURE;

   187

            wake_up(&slave->sdo_queue);

   188

            fsm->sdo_request = NULL;

   189

            fsm->state = ec_fsm_slave_state_idle;

   190

            return 0;

   191

        }

   192

   193

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   194

            EC_WARN("Aborting SDO request, slave %u is in INIT.\n",

   195

                    slave->ring_position);

   196

            request->req.state = EC_INT_REQUEST_FAILURE;

   197

            wake_up(&slave->sdo_queue);

   198

            fsm->sdo_request = NULL;

   199

            fsm->state = ec_fsm_slave_state_idle;

   200

            return 0;

   201

        }

   202

   203

        request->req.state = EC_INT_REQUEST_BUSY;

   204

   205

        // Found pending SDO request. Execute it!

   206

        if (master->debug_level)

   207

            EC_DBG("Processing SDO request for slave %u...\n",

   208

                    slave->ring_position);

   209

   210

        // Start SDO transfer

   211

        fsm->sdo_request = &request->req;

   212

        fsm->state = ec_fsm_slave_state_sdo_request;

   213

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

   214

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

   215

        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

   216

        return 1;

   217

    }

   218

    return 0;

   219

}

   220

   221

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

   222

   223

/** Slave state: SDO_REQUEST.

   224

 */

   225

void ec_fsm_slave_state_sdo_request(

   226

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

   227

        )

   228

{

   229

    ec_slave_t *slave = fsm->slave;

   230

    ec_master_t *master = slave->master;

   231

    ec_sdo_request_t *request = fsm->sdo_request;

   232

   233

    if (ec_fsm_coe_exec(&fsm->fsm_coe))

   234

    {

   235

        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

   236

        return;

   237

    }

   238

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

   239

        EC_DBG("Failed to process SDO request for slave %u.\n",

   240

                fsm->slave->ring_position);

   241

        request->state = EC_INT_REQUEST_FAILURE;

   242

        wake_up(&slave->sdo_queue);

   243

        fsm->sdo_request = NULL;

   244

        fsm->state = ec_fsm_slave_state_idle;

   245

        return;

   246

    }

   247

   248

    if (master->debug_level)

   249

        EC_DBG("Finished SDO request for slave %u.\n",

   250

                fsm->slave->ring_position);

   251

   252

    // SDO request finished

   253

    request->state = EC_INT_REQUEST_SUCCESS;

   254

    wake_up(&slave->sdo_queue);

   255

   256

    fsm->sdo_request = NULL;

   257

    fsm->state = ec_fsm_slave_state_ready;

   258

}

   259

   260

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

   261

   262

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

   263

 *

   264

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

   265

 */

   266

int ec_fsm_slave_action_process_foe(

   267

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

   268

        )

   269

{

   270

    ec_slave_t *slave = fsm->slave;

   271

    ec_master_t *master = slave->master;

   272

    ec_master_foe_request_t *request, *next;

   273

   274

    // search the first request to be processed

   275

    list_for_each_entry_safe(request, next, &slave->foe_requests, list) {

   276

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   277

            EC_WARN("Aborting FOE request, slave %u has ERROR.\n",

   278

                    slave->ring_position);

   279

            request->req.state = EC_INT_REQUEST_FAILURE;

   280

            wake_up(&slave->sdo_queue);

   281

            fsm->sdo_request = NULL;

   282

            fsm->state = ec_fsm_slave_state_idle;

   283

            return 0;

   284

        }

   285

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

   286

        request->req.state = EC_INT_REQUEST_BUSY;

   287

   288

        if (master->debug_level)

   289

            EC_DBG("Processing FOE request for slave %u.\n",

   290

                    slave->ring_position);

   291

   292

        fsm->foe_request = &request->req;

   293

        fsm->state = ec_fsm_slave_state_foe_request;

   294

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

   295

        ec_fsm_foe_exec(&fsm->fsm_foe);

   296

        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

   297

        return 1;

   298

    }

   299

    return 0;

   300

}

   301

   302

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

   303

   304

/** Slave state: FOE REQUEST.

   305

 */

   306

void ec_fsm_slave_state_foe_request(

   307

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

   308

        )

   309

{

   310

    ec_slave_t *slave = fsm->slave;

   311

    ec_master_t *master = slave->master;

   312

    ec_foe_request_t *request = fsm->foe_request;

   313

   314

    if (ec_fsm_foe_exec(&fsm->fsm_foe))

   315

    {

   316

        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

   317

        return;

   318

    }

   319

   320

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

   321

        EC_ERR("Failed to handle FoE request to slave %u.\n",

   322

                slave->ring_position);

   323

        request->state = EC_INT_REQUEST_FAILURE;

   324

        wake_up(&slave->foe_queue);

   325

        fsm->foe_request = NULL;

   326

        fsm->state = ec_fsm_slave_state_idle;

   327

        return;

   328

    }

   329

   330

    // finished transferring FoE

   331

    if (master->debug_level)

   332

        EC_DBG("Successfully transferred %u bytes of FoE data from/to"

   333

                " slave %u.\n", request->data_size, slave->ring_position);

   334

   335

    request->state = EC_INT_REQUEST_SUCCESS;

   336

    wake_up(&slave->foe_queue);

   337

   338

    fsm->foe_request = NULL;

   339

    fsm->state = ec_fsm_slave_state_ready;

   340

}

   341

   342

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

   343

   344

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

   345

 *

   346

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

   347

 */

   348

int ec_fsm_slave_action_process_soe(

   349

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

   350

        )

   351

{

   352

    ec_slave_t *slave = fsm->slave;

   353

    ec_master_t *master = slave->master;

   354

    ec_master_soe_request_t *req, *next;

   355

   356

    // search the first request to be processed

   357

    list_for_each_entry_safe(req, next, &slave->soe_requests, list) {

   358

   359

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

   360

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   361

            EC_WARN("Aborting SoE request, slave %u has ERROR.\n",

   362

                    slave->ring_position);

   363

            req->req.state = EC_INT_REQUEST_FAILURE;

   364

            wake_up(&slave->soe_queue);

   365

            fsm->state = ec_fsm_slave_state_idle;

   366

            return 0;

   367

        }

   368

   369

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   370

            EC_WARN("Aborting SoE request, slave %u is in INIT.\n",

   371

                    slave->ring_position);

   372

            req->req.state = EC_INT_REQUEST_FAILURE;

   373

            wake_up(&slave->soe_queue);

   374

            fsm->state = ec_fsm_slave_state_idle;

   375

            return 0;

   376

        }

   377

   378

        req->req.state = EC_INT_REQUEST_BUSY;

   379

   380

        // Found pending request. Execute it!

   381

        if (master->debug_level)

   382

            EC_DBG("Processing SoE request for slave %u...\n",

   383

                    slave->ring_position);

   384

   385

        // Start SoE transfer

   386

        fsm->soe_request = &req->req;

   387

        fsm->state = ec_fsm_slave_state_soe_request;

   388

        ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);

   389

        ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately

   390

        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);

   391

        return 1;

   392

    }

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/** Slave state: SOE_REQUEST.

   399

 */

   400

void ec_fsm_slave_state_soe_request(

   401

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

   402

        )

   403

{

   404

    ec_slave_t *slave = fsm->slave;

   405

    ec_master_t *master = slave->master;

   406

    ec_soe_request_t *request = fsm->soe_request;

   407

   408

    if (ec_fsm_soe_exec(&fsm->fsm_soe)) {

   409

        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);

   410

        return;

   411

    }

   412

   413

    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {

   414

        EC_DBG("Failed to process SoE request for slave %u.\n",

   415

                fsm->slave->ring_position);

   416

        request->state = EC_INT_REQUEST_FAILURE;

   417

        wake_up(&slave->soe_queue);

   418

        fsm->soe_request = NULL;

   419

        fsm->state = ec_fsm_slave_state_idle;

   420

        return;

   421

    }

   422

   423

    if (master->debug_level)

   424

        EC_DBG("Finished SoE request for slave %u.\n",

   425

                fsm->slave->ring_position);

   426

   427

    // SoE request finished

   428

    request->state = EC_INT_REQUEST_SUCCESS;

   429

    wake_up(&slave->soe_queue);

   430

   431

    fsm->soe_request = NULL;

   432

    fsm->state = ec_fsm_slave_state_ready;

   433

}

   434

   435

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