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_mailbox_t *mbox/**< Datagram object to use. */

    61

        )

    62

{

    63

    fsm->slave = slave;

    64

    fsm->mbox = mbox;

    65

    slave->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->mbox);

    73

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

    74

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

    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

 * \return true, if the state machine was executed

    99

 */

   100

int ec_fsm_slave_exec(

   101

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

   102

        )

   103

{

   104

    if (ec_mbox_is_datagram_state(fsm->mbox,EC_DATAGRAM_QUEUED)

   105

        || ec_mbox_is_datagram_state(fsm->mbox,EC_DATAGRAM_SENT)) {

   106

        // datagram was not sent or received yet.

   107

        return 0;

   108

    }

   109

   110

    fsm->state(fsm);

   111

    return 1;

   112

}

   113

   114

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

   115

   116

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

   117

 */

   118

void ec_fsm_slave_ready(

   119

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

   120

        )

   121

{

   122

    if (fsm->state == ec_fsm_slave_state_idle) {

   123

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

   124

        fsm->state = ec_fsm_slave_state_ready;

   125

    }

   126

}

   127

   128

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

   129

 * Slave state machine

   130

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

   131

   132

/** Slave state: IDLE.

   133

 */

   134

void ec_fsm_slave_state_idle(

   135

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

   136

        )

   137

{

   138

    // do nothing

   139

}

   140

   141

   142

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

   143

   144

/** Slave state: READY.

   145

 */

   146

void ec_fsm_slave_state_ready(

   147

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

   148

        )

   149

{

   150

    // Check for pending external SDO requests

   151

    if (ec_fsm_slave_action_process_sdo(fsm))

   152

        return;

   153

   154

    // Check for pending FoE requests

   155

    if (ec_fsm_slave_action_process_foe(fsm))

   156

        return;

   157

   158

    // Check for pending SoE requests

   159

    if (ec_fsm_slave_action_process_soe(fsm))

   160

        return;

   161

}

   162

   163

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

   164

   165

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

   166

 *

   167

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

   168

 */

   169

int ec_fsm_slave_action_process_sdo(

   170

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

   171

        )

   172

{

   173

    ec_slave_t *slave = fsm->slave;

   174

    ec_master_sdo_request_t *request, *next;

   175

   176

    // search the first external request to be processed

   177

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

   178

   179

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

   180

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   181

            EC_SLAVE_WARN(slave, "Aborting SDO request %p,"

   182

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

   183

            request->req.state = EC_INT_REQUEST_FAILURE;

   184

            kref_put(&request->refcount,ec_master_sdo_request_release);

   185

            wake_up(&slave->sdo_queue);

   186

            fsm->sdo_request = NULL;

   187

            fsm->state = ec_fsm_slave_state_idle;

   188

            return 0;

   189

        }

   190

   191

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   192

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

   193

            request->req.state = EC_INT_REQUEST_FAILURE;

   194

            kref_put(&request->refcount,ec_master_sdo_request_release);

   195

            wake_up(&slave->sdo_queue);

   196

            fsm->sdo_request = NULL;

   197

            fsm->state = ec_fsm_slave_state_idle;

   198

            return 0;

   199

        }

   200

   201

        request->req.state = EC_INT_REQUEST_BUSY;

   202

   203

        // Found pending SDO request. Execute it!

   204

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

   205

   206

        // Start SDO transfer

   207

        fsm->sdo_request = request;

   208

        fsm->state = ec_fsm_slave_state_sdo_request;

   209

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

   210

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

   211

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   212

        return 1;

   213

    }

   214

    return 0;

   215

}

   216

   217

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

   218

   219

/** Slave state: SDO_REQUEST.

   220

 */

   221

void ec_fsm_slave_state_sdo_request(

   222

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

   223

        )

   224

{

   225

    ec_slave_t *slave = fsm->slave;

   226

    ec_master_sdo_request_t *request = fsm->sdo_request;

   227

   228

    if (ec_fsm_coe_exec(&fsm->fsm_coe))

   229

    {

   230

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   231

        return;

   232

    }

   233

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

   234

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

   235

        request->req.state = EC_INT_REQUEST_FAILURE;

   236

        kref_put(&request->refcount,ec_master_sdo_request_release);

   237

        wake_up(&slave->sdo_queue);

   238

        fsm->sdo_request = NULL;

   239

        fsm->state = ec_fsm_slave_state_idle;

   240

        return;

   241

    }

   242

   243

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

   244

   245

    // SDO request finished

   246

    request->req.state = EC_INT_REQUEST_SUCCESS;

   247

    kref_put(&request->refcount,ec_master_sdo_request_release);

   248

    wake_up(&slave->sdo_queue);

   249

   250

    fsm->sdo_request = NULL;

   251

    fsm->state = ec_fsm_slave_state_ready;

   252

}

   253

   254

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

   255

   256

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

   257

 *

   258

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

   259

 */

   260

int ec_fsm_slave_action_process_foe(

   261

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

   262

        )

   263

{

   264

    ec_slave_t *slave = fsm->slave;

   265

    ec_master_foe_request_t *request, *next;

   266

   267

    // search the first request to be processed

   268

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

   269

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   270

            EC_SLAVE_WARN(slave, "Aborting FOE request %p,"

   271

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

   272

            request->req.state = EC_INT_REQUEST_FAILURE;

   273

            kref_put(&request->refcount,ec_master_foe_request_release);

   274

            wake_up(&slave->foe_queue);

   275

            fsm->sdo_request = NULL;

   276

            fsm->state = ec_fsm_slave_state_idle;

   277

            return 0;

   278

        }

   279

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

   280

        request->req.state = EC_INT_REQUEST_BUSY;

   281

   282

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

   283

   284

        fsm->foe_request = request;

   285

        fsm->state = ec_fsm_slave_state_foe_request;

   286

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

   287

        ec_fsm_foe_exec(&fsm->fsm_foe);

   288

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   289

        return 1;

   290

    }

   291

    return 0;

   292

}

   293

   294

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

   295

   296

/** Slave state: FOE REQUEST.

   297

 */

   298

void ec_fsm_slave_state_foe_request(

   299

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

   300

        )

   301

{

   302

    ec_slave_t *slave = fsm->slave;

   303

    ec_master_foe_request_t *request = fsm->foe_request;

   304

   305

    if (ec_fsm_foe_exec(&fsm->fsm_foe))

   306

    {

   307

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   308

        return;

   309

    }

   310

   311

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

   312

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

   313

        request->req.state = EC_INT_REQUEST_FAILURE;

   314

        kref_put(&request->refcount,ec_master_foe_request_release);

   315

        wake_up(&slave->foe_queue);

   316

        fsm->foe_request = NULL;

   317

        fsm->state = ec_fsm_slave_state_idle;

   318

        return;

   319

    }

   320

   321

    // finished transferring FoE

   322

    EC_SLAVE_DBG(slave, 1, "FoE request %p successfully transferred %zu bytes.\n",

   323

            request,request->req.data_size);

   324

   325

    request->req.state = EC_INT_REQUEST_SUCCESS;

   326

    kref_put(&request->refcount,ec_master_foe_request_release);

   327

    wake_up(&slave->foe_queue);

   328

   329

    fsm->foe_request = NULL;

   330

    fsm->state = ec_fsm_slave_state_ready;

   331

}

   332

   333

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

   334

   335

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

   336

 *

   337

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

   338

 */

   339

int ec_fsm_slave_action_process_soe(

   340

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

   341

        )

   342

{

   343

    ec_slave_t *slave = fsm->slave;

   344

    ec_master_soe_request_t *request, *next;

   345

   346

    // search the first request to be processed

   347

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

   348

   349

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

   350

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   351

            EC_SLAVE_WARN(slave, "Aborting SoE request,"

   352

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

   353

            request->req.state = EC_INT_REQUEST_FAILURE;

   354

            kref_put(&request->refcount,ec_master_soe_request_release);

   355

            wake_up(&slave->soe_queue);

   356

            fsm->state = ec_fsm_slave_state_idle;

   357

            return 0;

   358

        }

   359

   360

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   361

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

   362

            request->req.state = EC_INT_REQUEST_FAILURE;

   363

            kref_put(&request->refcount,ec_master_soe_request_release);

   364

            wake_up(&slave->soe_queue);

   365

            fsm->state = ec_fsm_slave_state_idle;

   366

            return 0;

   367

        }

   368

   369

        request->req.state = EC_INT_REQUEST_BUSY;

   370

   371

        // Found pending request. Execute it!

   372

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

   373

   374

        // Start SoE transfer

   375

        fsm->soe_request = request;

   376

        fsm->state = ec_fsm_slave_state_soe_request;

   377

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

   378

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

   379

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   380

        return 1;

   381

    }

   382

    return 0;

   383

}

   384

   385

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

   386

   387

/** Slave state: SOE_REQUEST.

   388

 */

   389

void ec_fsm_slave_state_soe_request(

   390

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

   391

        )

   392

{

   393

    ec_slave_t *slave = fsm->slave;

   394

    ec_master_soe_request_t *request = fsm->soe_request;

   395

   396

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

   397

        ec_slave_mbox_queue_datagrams(slave, fsm->mbox);

   398

        return;

   399

    }

   400

   401

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

   402

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

   403

        request->req.state = EC_INT_REQUEST_FAILURE;

   404

        kref_put(&request->refcount,ec_master_soe_request_release);

   405

        wake_up(&slave->soe_queue);

   406

        fsm->soe_request = NULL;

   407

        fsm->state = ec_fsm_slave_state_idle;

   408

        return;

   409

    }

   410

   411

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

   412

   413

    // SoE request finished

   414

    request->req.state = EC_INT_REQUEST_SUCCESS;

   415

    kref_put(&request->refcount,ec_master_soe_request_release);

   416

    wake_up(&slave->soe_queue);

   417

   418

    fsm->soe_request = NULL;

   419

    fsm->state = ec_fsm_slave_state_ready;

   420

}

   421

   422

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