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

    EC_SLAVE_DBG(slave, 1, "Init FSM.\n");

    68

    69

    fsm->state = ec_fsm_slave_state_idle;

    70

    71

    // init sub-state-machines

    72

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

    73

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

    74

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

    75

}

    76

    77

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

    78

    79

/** Destructor.

    80

 */

    81

void ec_fsm_slave_clear(

    82

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

    83

        )

    84

{

    85

    // clear sub-state machines

    86

    ec_fsm_coe_clear(&fsm->fsm_coe);

    87

    ec_fsm_foe_clear(&fsm->fsm_foe);

    88

    ec_fsm_soe_clear(&fsm->fsm_soe);

    89

}

    90

    91

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

    92

    93

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

    94

 *

    95

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

    96

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

    97

 */

    98

void ec_fsm_slave_exec(

    99

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

   100

        )

   101

{

   102

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

   103

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

   104

        // datagram was not sent or received yet.

   105

        return;

   106

    }

   107

   108

    fsm->state(fsm);

   109

}

   110

   111

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

   112

   113

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

   114

 */

   115

void ec_fsm_slave_ready(

   116

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

   117

        )

   118

{

   119

    if (fsm->state == ec_fsm_slave_state_idle) {

   120

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

   121

        fsm->state = ec_fsm_slave_state_ready;

   122

    }

   123

}

   124

   125

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

   126

 * Slave state machine

   127

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

   128

   129

/** Slave state: IDLE.

   130

 */

   131

void ec_fsm_slave_state_idle(

   132

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

   133

        )

   134

{

   135

    // do nothing

   136

}

   137

   138

   139

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

   140

   141

/** Slave state: READY.

   142

 */

   143

void ec_fsm_slave_state_ready(

   144

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

   145

        )

   146

{

   147

    // Check for pending external SDO requests

   148

    if (ec_fsm_slave_action_process_sdo(fsm))

   149

        return;

   150

   151

    // Check for pending FoE requests

   152

    if (ec_fsm_slave_action_process_foe(fsm))

   153

        return;

   154

   155

    // Check for pending SoE requests

   156

    if (ec_fsm_slave_action_process_soe(fsm))

   157

        return;

   158

}

   159

   160

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

   161

   162

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

   163

 *

   164

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

   165

 */

   166

int ec_fsm_slave_action_process_sdo(

   167

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

   168

        )

   169

{

   170

    ec_slave_t *slave = fsm->slave;

   171

    ec_master_sdo_request_t *request, *next;

   172

   173

    // search the first external request to be processed

   174

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

   175

   176

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

   177

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   178

            EC_SLAVE_WARN(slave, "Aborting SDO request,"

   179

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

   180

            request->req.state = EC_INT_REQUEST_FAILURE;

   181

            wake_up(&slave->sdo_queue);

   182

            fsm->sdo_request = NULL;

   183

            fsm->state = ec_fsm_slave_state_idle;

   184

            return 0;

   185

        }

   186

   187

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   188

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

   189

            request->req.state = EC_INT_REQUEST_FAILURE;

   190

            wake_up(&slave->sdo_queue);

   191

            fsm->sdo_request = NULL;

   192

            fsm->state = ec_fsm_slave_state_idle;

   193

            return 0;

   194

        }

   195

   196

        request->req.state = EC_INT_REQUEST_BUSY;

   197

   198

        // Found pending SDO request. Execute it!

   199

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

   200

   201

        // Start SDO transfer

   202

        fsm->sdo_request = &request->req;

   203

        fsm->state = ec_fsm_slave_state_sdo_request;

   204

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

   205

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

   206

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

   207

        return 1;

   208

    }

   209

    return 0;

   210

}

   211

   212

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

   213

   214

/** Slave state: SDO_REQUEST.

   215

 */

   216

void ec_fsm_slave_state_sdo_request(

   217

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

   218

        )

   219

{

   220

    ec_slave_t *slave = fsm->slave;

   221

    ec_sdo_request_t *request = fsm->sdo_request;

   222

   223

    if (ec_fsm_coe_exec(&fsm->fsm_coe))

   224

    {

   225

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

   226

        return;

   227

    }

   228

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

   229

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

   230

        request->state = EC_INT_REQUEST_FAILURE;

   231

        wake_up(&slave->sdo_queue);

   232

        fsm->sdo_request = NULL;

   233

        fsm->state = ec_fsm_slave_state_idle;

   234

        return;

   235

    }

   236

   237

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

   238

   239

    // SDO request finished

   240

    request->state = EC_INT_REQUEST_SUCCESS;

   241

    wake_up(&slave->sdo_queue);

   242

   243

    fsm->sdo_request = NULL;

   244

    fsm->state = ec_fsm_slave_state_ready;

   245

}

   246

   247

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

   248

   249

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

   250

 *

   251

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

   252

 */

   253

int ec_fsm_slave_action_process_foe(

   254

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

   255

        )

   256

{

   257

    ec_slave_t *slave = fsm->slave;

   258

    ec_master_foe_request_t *request, *next;

   259

   260

    // search the first request to be processed

   261

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

   262

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   263

            EC_SLAVE_WARN(slave, "Aborting FOE request,"

   264

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

   265

            request->req.state = EC_INT_REQUEST_FAILURE;

   266

            wake_up(&slave->sdo_queue);

   267

            fsm->sdo_request = NULL;

   268

            fsm->state = ec_fsm_slave_state_idle;

   269

            return 0;

   270

        }

   271

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

   272

        request->req.state = EC_INT_REQUEST_BUSY;

   273

   274

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

   275

   276

        fsm->foe_request = &request->req;

   277

        fsm->state = ec_fsm_slave_state_foe_request;

   278

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

   279

        ec_fsm_foe_exec(&fsm->fsm_foe);

   280

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

   281

        return 1;

   282

    }

   283

    return 0;

   284

}

   285

   286

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

   287

   288

/** Slave state: FOE REQUEST.

   289

 */

   290

void ec_fsm_slave_state_foe_request(

   291

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

   292

        )

   293

{

   294

    ec_slave_t *slave = fsm->slave;

   295

    ec_foe_request_t *request = fsm->foe_request;

   296

   297

    if (ec_fsm_foe_exec(&fsm->fsm_foe))

   298

    {

   299

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

   300

        return;

   301

    }

   302

   303

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

   304

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

   305

        request->state = EC_INT_REQUEST_FAILURE;

   306

        wake_up(&slave->foe_queue);

   307

        fsm->foe_request = NULL;

   308

        fsm->state = ec_fsm_slave_state_idle;

   309

        return;

   310

    }

   311

   312

    // finished transferring FoE

   313

    EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"

   314

            " data.\n", request->data_size);

   315

   316

    request->state = EC_INT_REQUEST_SUCCESS;

   317

    wake_up(&slave->foe_queue);

   318

   319

    fsm->foe_request = NULL;

   320

    fsm->state = ec_fsm_slave_state_ready;

   321

}

   322

   323

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

   324

   325

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

   326

 *

   327

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

   328

 */

   329

int ec_fsm_slave_action_process_soe(

   330

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

   331

        )

   332

{

   333

    ec_slave_t *slave = fsm->slave;

   334

    ec_master_soe_request_t *req, *next;

   335

   336

    // search the first request to be processed

   337

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

   338

   339

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

   340

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   341

            EC_SLAVE_WARN(slave, "Aborting SoE request,"

   342

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

   343

            req->req.state = EC_INT_REQUEST_FAILURE;

   344

            wake_up(&slave->soe_queue);

   345

            fsm->state = ec_fsm_slave_state_idle;

   346

            return 0;

   347

        }

   348

   349

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   350

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

   351

            req->req.state = EC_INT_REQUEST_FAILURE;

   352

            wake_up(&slave->soe_queue);

   353

            fsm->state = ec_fsm_slave_state_idle;

   354

            return 0;

   355

        }

   356

   357

        req->req.state = EC_INT_REQUEST_BUSY;

   358

   359

        // Found pending request. Execute it!

   360

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

   361

   362

        // Start SoE transfer

   363

        fsm->soe_request = &req->req;

   364

        fsm->state = ec_fsm_slave_state_soe_request;

   365

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

   366

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

   367

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

   368

        return 1;

   369

    }

   370

    return 0;

   371

}

   372

   373

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

   374

   375

/** Slave state: SOE_REQUEST.

   376

 */

   377

void ec_fsm_slave_state_soe_request(

   378

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

   379

        )

   380

{

   381

    ec_slave_t *slave = fsm->slave;

   382

    ec_soe_request_t *request = fsm->soe_request;

   383

   384

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

   385

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

   386

        return;

   387

    }

   388

   389

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

   390

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

   391

        request->state = EC_INT_REQUEST_FAILURE;

   392

        wake_up(&slave->soe_queue);

   393

        fsm->soe_request = NULL;

   394

        fsm->state = ec_fsm_slave_state_idle;

   395

        return;

   396

    }

   397

   398

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

   399

   400

    // SoE request finished

   401

    request->state = EC_INT_REQUEST_SUCCESS;

   402

    wake_up(&slave->soe_queue);

   403

   404

    fsm->soe_request = NULL;

   405

    fsm->state = ec_fsm_slave_state_ready;

   406

}

   407

   408

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