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

   152

    // Check for pending FoE requests

   153

    if (ec_fsm_slave_action_process_foe(fsm)) {

   154

        return;

   155

    }

   156

   157

    // Check for pending SoE requests

   158

    if (ec_fsm_slave_action_process_soe(fsm)) {

   159

        return;

   160

    }

   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,"

   182

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

   183

            request->req.state = EC_INT_REQUEST_FAILURE;

   184

            wake_up(&slave->sdo_queue);

   185

            fsm->sdo_request = NULL;

   186

            fsm->state = ec_fsm_slave_state_idle;

   187

            return 0;

   188

        }

   189

   190

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   191

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

   192

            request->req.state = EC_INT_REQUEST_FAILURE;

   193

            wake_up(&slave->sdo_queue);

   194

            fsm->sdo_request = NULL;

   195

            fsm->state = ec_fsm_slave_state_idle;

   196

            return 0;

   197

        }

   198

   199

        request->req.state = EC_INT_REQUEST_BUSY;

   200

   201

        // Found pending SDO request. Execute it!

   202

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

   203

   204

        // Start SDO transfer

   205

        fsm->sdo_request = &request->req;

   206

        fsm->state = ec_fsm_slave_state_sdo_request;

   207

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

   208

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

   209

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

   210

                EC_DEVICE_MAIN);

   211

        return 1;

   212

    }

   213

    return 0;

   214

}

   215

   216

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

   217

   218

/** Slave state: SDO_REQUEST.

   219

 */

   220

void ec_fsm_slave_state_sdo_request(

   221

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

   222

        )

   223

{

   224

    ec_slave_t *slave = fsm->slave;

   225

    ec_sdo_request_t *request = fsm->sdo_request;

   226

   227

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

   228

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

   229

                EC_DEVICE_MAIN);

   230

        return;

   231

    }

   232

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

   233

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

   234

        request->state = EC_INT_REQUEST_FAILURE;

   235

        wake_up(&slave->sdo_queue);

   236

        fsm->sdo_request = NULL;

   237

        fsm->state = ec_fsm_slave_state_idle;

   238

        return;

   239

    }

   240

   241

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

   242

   243

    // SDO request finished

   244

    request->state = EC_INT_REQUEST_SUCCESS;

   245

    wake_up(&slave->sdo_queue);

   246

   247

    fsm->sdo_request = NULL;

   248

    fsm->state = ec_fsm_slave_state_ready;

   249

}

   250

   251

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

   252

   253

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

   254

 *

   255

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

   256

 */

   257

int ec_fsm_slave_action_process_foe(

   258

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

   259

        )

   260

{

   261

    ec_slave_t *slave = fsm->slave;

   262

    ec_master_foe_request_t *request, *next;

   263

   264

    // search the first request to be processed

   265

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

   266

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   267

            EC_SLAVE_WARN(slave, "Aborting FOE request,"

   268

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

   269

            request->req.state = EC_INT_REQUEST_FAILURE;

   270

            wake_up(&slave->sdo_queue);

   271

            fsm->sdo_request = NULL;

   272

            fsm->state = ec_fsm_slave_state_idle;

   273

            return 0;

   274

        }

   275

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

   276

        request->req.state = EC_INT_REQUEST_BUSY;

   277

   278

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

   279

   280

        fsm->foe_request = &request->req;

   281

        fsm->state = ec_fsm_slave_state_foe_request;

   282

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

   283

        ec_fsm_foe_exec(&fsm->fsm_foe);

   284

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

   285

                EC_DEVICE_MAIN);

   286

        return 1;

   287

    }

   288

    return 0;

   289

}

   290

   291

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

   292

   293

/** Slave state: FOE REQUEST.

   294

 */

   295

void ec_fsm_slave_state_foe_request(

   296

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

   297

        )

   298

{

   299

    ec_slave_t *slave = fsm->slave;

   300

    ec_foe_request_t *request = fsm->foe_request;

   301

   302

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

   303

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

   304

                EC_DEVICE_MAIN);

   305

        return;

   306

    }

   307

   308

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

   309

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

   310

        request->state = EC_INT_REQUEST_FAILURE;

   311

        wake_up(&slave->foe_queue);

   312

        fsm->foe_request = NULL;

   313

        fsm->state = ec_fsm_slave_state_idle;

   314

        return;

   315

    }

   316

   317

    // finished transferring FoE

   318

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

   319

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

   320

   321

    request->state = EC_INT_REQUEST_SUCCESS;

   322

    wake_up(&slave->foe_queue);

   323

   324

    fsm->foe_request = NULL;

   325

    fsm->state = ec_fsm_slave_state_ready;

   326

}

   327

   328

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

   329

   330

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

   331

 *

   332

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

   333

 */

   334

int ec_fsm_slave_action_process_soe(

   335

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

   336

        )

   337

{

   338

    ec_slave_t *slave = fsm->slave;

   339

    ec_master_soe_request_t *req, *next;

   340

   341

    // search the first request to be processed

   342

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

   343

   344

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

   345

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   346

            EC_SLAVE_WARN(slave, "Aborting SoE request,"

   347

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

   348

            req->req.state = EC_INT_REQUEST_FAILURE;

   349

            wake_up(&slave->soe_queue);

   350

            fsm->state = ec_fsm_slave_state_idle;

   351

            return 0;

   352

        }

   353

   354

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   355

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

   356

            req->req.state = EC_INT_REQUEST_FAILURE;

   357

            wake_up(&slave->soe_queue);

   358

            fsm->state = ec_fsm_slave_state_idle;

   359

            return 0;

   360

        }

   361

   362

        req->req.state = EC_INT_REQUEST_BUSY;

   363

   364

        // Found pending request. Execute it!

   365

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

   366

   367

        // Start SoE transfer

   368

        fsm->soe_request = &req->req;

   369

        fsm->state = ec_fsm_slave_state_soe_request;

   370

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

   371

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

   372

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

   373

                EC_DEVICE_MAIN);

   374

        return 1;

   375

    }

   376

    return 0;

   377

}

   378

   379

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

   380

   381

/** Slave state: SOE_REQUEST.

   382

 */

   383

void ec_fsm_slave_state_soe_request(

   384

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

   385

        )

   386

{

   387

    ec_slave_t *slave = fsm->slave;

   388

    ec_soe_request_t *request = fsm->soe_request;

   389

   390

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

   391

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

   392

                EC_DEVICE_MAIN);

   393

        return;

   394

    }

   395

   396

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

   397

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

   398

        request->state = EC_INT_REQUEST_FAILURE;

   399

        wake_up(&slave->soe_queue);

   400

        fsm->soe_request = NULL;

   401

        fsm->state = ec_fsm_slave_state_idle;

   402

        return;

   403

    }

   404

   405

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

   406

   407

    // SoE request finished

   408

    request->state = EC_INT_REQUEST_SUCCESS;

   409

    wake_up(&slave->soe_queue);

   410

   411

    fsm->soe_request = NULL;

   412

    fsm->state = ec_fsm_slave_state_ready;

   413

}

   414

   415

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