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

int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);

    46

int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);

    47

void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);

    48

void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);

    49

    50

    51

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

    52

    53

/** Constructor.

    54

 */

    55

void ec_fsm_slave_init(

    56

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

    57

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

    58

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

    59

        )

    60

{

    61

    fsm->slave = slave;

    62

    fsm->datagram = datagram;

    63

    fsm->datagram->data_size = 0;

    64

    fsm->state = ec_fsm_slave_state_idle;

    65

    66

    // init sub-state-machines

    67

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

    68

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

    69

}

    70

    71

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

    72

    73

/** Destructor.

    74

 */

    75

void ec_fsm_slave_clear(

    76

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

    77

        )

    78

{

    79

    // clear sub-state machines

    80

    ec_fsm_coe_clear(&fsm->fsm_coe);

    81

    ec_fsm_foe_clear(&fsm->fsm_foe);

    82

}

    83

    84

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

    85

    86

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

    87

 *

    88

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

    89

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

    90

 */

    91

void ec_fsm_slave_exec(

    92

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

    93

        )

    94

{

    95

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

    96

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

    97

        // datagram was not sent or received yet.

    98

        return;

    99

    }

   100

   101

    fsm->state(fsm);

   102

    return;

   103

}

   104

   105

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

   106

 * Slave state machine

   107

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

   108

   109

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

   110

   111

/** Slave state: IDLE.

   112

 *

   113

 *

   114

 */

   115

void ec_fsm_slave_state_idle(

   116

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

   117

        )

   118

{

   119

    // Check for pending external SDO requests

   120

    if (ec_fsm_slave_action_process_sdo(fsm))

   121

        return;

   122

    // Check for pending FOE requests

   123

    if (ec_fsm_slave_action_process_foe(fsm))

   124

        return;

   125

   126

}

   127

   128

   129

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

   130

   131

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

   132

 *

   133

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

   134

 */

   135

int ec_fsm_slave_action_process_sdo(

   136

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

   137

        )

   138

{

   139

    ec_slave_t *slave = fsm->slave;

   140

    ec_master_t *master = slave->master;

   141

    ec_master_sdo_request_t *request, *next;

   142

   143

    // search the first external request to be processed

   144

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

   151

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

   152

        request->req.state = EC_INT_REQUEST_BUSY;

   153

   154

        // Found pending SDO request. Execute it!

   155

        if (master->debug_level)

   156

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

   157

                    slave->ring_position);

   158

   159

        // Start SDO transfer

   160

        fsm->sdo_request = &request->req;

   161

        fsm->state = ec_fsm_slave_state_sdo_request;

   162

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

   163

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

   164

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

   165

        return 1;

   166

    }

   167

    return 0;

   168

}

   169

   170

   171

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

   172

   173

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

   174

 *

   175

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

   176

 */

   177

int ec_fsm_slave_action_process_foe(

   178

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

   179

        )

   180

{

   181

    ec_slave_t *slave = fsm->slave;

   182

    ec_master_t *master = slave->master;

   183

    ec_master_foe_request_t *request, *next;

   184

   185

    // search the first request to be processed

   186

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

   187

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

   188

        request->req.state = EC_INT_REQUEST_BUSY;

   189

   190

        if (master->debug_level)

   191

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

   192

                    slave->ring_position);

   193

   194

        fsm->foe_request = &request->req;

   195

        fsm->state = ec_fsm_slave_state_foe_request;

   196

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

   197

        ec_fsm_foe_exec(&fsm->fsm_foe);

   198

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

   199

        return 1;

   200

    }

   201

    return 0;

   202

}

   203

   204

   205

   206

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

   207

   208

/** Slave state: SDO_REQUEST.

   209

 */

   210

void ec_fsm_slave_state_sdo_request(

   211

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

   212

        )

   213

{

   214

    ec_slave_t *slave = fsm->slave;

   215

    ec_master_t *master = slave->master;

   216

    ec_sdo_request_t *request = fsm->sdo_request;

   217

   218

    if (ec_fsm_coe_exec(&fsm->fsm_coe))

   219

    {

   220

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

   221

        return;

   222

    }

   223

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

   224

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

   225

                fsm->slave->ring_position);

   226

        request->state = EC_INT_REQUEST_FAILURE;

   227

        wake_up(&slave->sdo_queue);

   228

        fsm->sdo_request = NULL;

   229

        fsm->state = ec_fsm_slave_state_idle;

   230

        return;

   231

    }

   232

   233

    if (master->debug_level)

   234

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

   235

                fsm->slave->ring_position);

   236

   237

    // SDO request finished

   238

    request->state = EC_INT_REQUEST_SUCCESS;

   239

    wake_up(&slave->sdo_queue);

   240

   241

    fsm->sdo_request = NULL;

   242

    fsm->state = ec_fsm_slave_state_idle;

   243

}

   244

   245

   246

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

   247

   248

/** Slave state: FOE REQUEST.

   249

 */

   250

void ec_fsm_slave_state_foe_request(

   251

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

   252

        )

   253

{

   254

    ec_slave_t *slave = fsm->slave;

   255

    ec_master_t *master = slave->master;

   256

    ec_foe_request_t *request = fsm->foe_request;

   257

   258

    if (ec_fsm_foe_exec(&fsm->fsm_foe))

   259

    {

   260

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

   261

        return;

   262

    }

   263

   264

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

   265

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

   266

                slave->ring_position);

   267

        request->state = EC_INT_REQUEST_FAILURE;

   268

        wake_up(&slave->foe_queue);

   269

        fsm->foe_request = NULL;

   270

        fsm->state = ec_fsm_slave_state_idle;

   271

        return;

   272

    }

   273

   274

    // finished transferring FoE

   275

    if (master->debug_level)

   276

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

   277

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

   278

   279

    request->state = EC_INT_REQUEST_SUCCESS;

   280

    wake_up(&slave->foe_queue);

   281

   282

    fsm->foe_request = NULL;

   283

    fsm->state = ec_fsm_slave_state_idle;

   284

}

   285