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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

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

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

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

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 *

    22

 *  ---

    23

 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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    30

/** \file

    31

 * EtherCAT slave (SDO) state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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    41

#include "fsm_slave.h"

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    43

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

    44

    45

void ec_fsm_slave_state_idle(ec_fsm_slave_t *, ec_datagram_t *);

    46

void ec_fsm_slave_state_ready(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *, ec_datagram_t *);

    49

int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *, ec_datagram_t *);

    50

void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *, ec_datagram_t *);

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int ec_fsm_slave_action_process_eoe(ec_fsm_slave_t *, ec_datagram_t *);

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void ec_fsm_slave_state_eoe_request(ec_fsm_slave_t *, ec_datagram_t *);

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    58

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

    59

    60

/** Constructor.

    61

 */

    62

void ec_fsm_slave_init(

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

    64

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

    65

        )

    66

{

    67

    fsm->slave = slave;

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    INIT_LIST_HEAD(&fsm->list); // mark as unlisted

    69

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    fsm->state = ec_fsm_slave_state_idle;

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    fsm->datagram = NULL;

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    fsm->sdo_request = NULL;

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    fsm->reg_request = NULL;

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    fsm->foe_request = NULL;

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    fsm->soe_request = NULL;

    76

    fsm->eoe_request = NULL;

    77

    78

    // Init sub-state-machines

    79

    ec_fsm_coe_init(&fsm->fsm_coe);

    80

    ec_fsm_foe_init(&fsm->fsm_foe);

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    ec_fsm_soe_init(&fsm->fsm_soe);

    82

    ec_fsm_eoe_init(&fsm->fsm_eoe);

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}

    84

    85

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

    86

    87

/** Destructor.

    88

 */

    89

void ec_fsm_slave_clear(

    90

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

    91

        )

    92

{

    93

    // signal requests that are currently in operation

    94

    95

    if (fsm->sdo_request) {

    96

        fsm->sdo_request->state = EC_INT_REQUEST_FAILURE;

    97

        wake_up_all(&fsm->slave->master->request_queue);

    98

    }

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   100

    if (fsm->reg_request) {

   101

        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;

   102

        wake_up_all(&fsm->slave->master->request_queue);

   103

    }

   104

   105

    if (fsm->foe_request) {

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        fsm->foe_request->state = EC_INT_REQUEST_FAILURE;

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        wake_up_all(&fsm->slave->master->request_queue);

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    }

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   110

    if (fsm->soe_request) {

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        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;

   112

        wake_up_all(&fsm->slave->master->request_queue);

   113

    }

   114

   115

    if (fsm->eoe_request) {

   116

        fsm->soe_request->state = EC_INT_REQUEST_FAILURE;

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        wake_up_all(&fsm->slave->master->request_queue);

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    }

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_foe_clear(&fsm->fsm_foe);

   123

    ec_fsm_soe_clear(&fsm->fsm_soe);

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    ec_fsm_eoe_clear(&fsm->fsm_eoe);

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}

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   127

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

   128

   129

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

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 *

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 * \return 1 if \a datagram was used, else 0.

   132

 */

   133

int ec_fsm_slave_exec(

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

   135

        ec_datagram_t *datagram /**< New datagram to use. */

   136

        )

   137

{

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    int datagram_used;

   139

   140

    fsm->state(fsm, datagram);

   141

   142

    datagram_used = fsm->state != ec_fsm_slave_state_idle &&

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        fsm->state != ec_fsm_slave_state_ready;

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    if (datagram_used) {

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        fsm->datagram = datagram;

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    } else {

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        fsm->datagram = NULL;

   149

    }

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    return datagram_used;

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}

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   154

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

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   156

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

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 */

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void ec_fsm_slave_set_ready(

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

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        )

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{

   162

    if (fsm->state == ec_fsm_slave_state_idle) {

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

   164

        fsm->state = ec_fsm_slave_state_ready;

   165

    }

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}

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   168

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

   169

   170

/** Returns, if the FSM is currently not busy and ready to execute.

   171

 *

   172

 * \return Non-zero if ready.

   173

 */

   174

int ec_fsm_slave_is_ready(

   175

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

   176

        )

   177

{

   178

    return fsm->state == ec_fsm_slave_state_ready;

   179

}

   180

   181

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

   182

 * Slave state machine

   183

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

   184

   185

/** Slave state: IDLE.

   186

 */

   187

void ec_fsm_slave_state_idle(

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

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

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        )

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{

   192

    // do nothing

   193

}

   194

   195

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

   196

   197

/** Slave state: READY.

   198

 */

   199

void ec_fsm_slave_state_ready(

   200

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

   201

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

   202

        )

   203

{

   204

    ec_slave_t *slave = fsm->slave;

   205

    ec_sdo_request_t *req;

   206

   207

    if (slave->config) {

   208

        list_for_each_entry(req, &slave->config->sdo_requests, list) {

   209

            if (req->state == EC_INT_REQUEST_QUEUED || req->state == EC_INT_REQUEST_BUSY) {

   210

                EC_SLAVE_DBG(slave, 1, "Busy - processing internal SDO request!\n");

   211

                return;

   212

            }

   213

        }

   214

    }

   215

   216

    // Check for pending external SDO requests

   217

    if (ec_fsm_slave_action_process_sdo(fsm, datagram)) {

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        return;

   219

    }

   220

   221

    // Check for pending external register requests

   222

    if (ec_fsm_slave_action_process_reg(fsm, datagram)) {

   223

        return;

   224

    }

   225

   226

    // Check for pending FoE requests

   227

    if (ec_fsm_slave_action_process_foe(fsm, datagram)) {

   228

        return;

   229

    }

   230

   231

    // Check for pending SoE requests

   232

    if (ec_fsm_slave_action_process_soe(fsm, datagram)) {

   233

        return;

   234

    }

   235

   236

    // Check for pending EoE IP parameter requests

   237

    if (ec_fsm_slave_action_process_eoe(fsm, datagram)) {

   238

        return;

   239

    }

   240

}

   241

   242

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

   243

   244

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

   245

 *

   246

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

   247

 */

   248

int ec_fsm_slave_action_process_sdo(

   249

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

   250

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

   251

        )

   252

{

   253

    ec_slave_t *slave = fsm->slave;

   254

    ec_sdo_request_t *request;

   255

   256

    if (list_empty(&slave->sdo_requests)) {

   257

        return 0;

   258

    }

   259

   260

    // take the first request to be processed

   261

    request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);

   262

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

   263

   264

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   265

        EC_SLAVE_WARN(slave, "Aborting SDO request,"

   266

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

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        request->state = EC_INT_REQUEST_FAILURE;

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        wake_up_all(&slave->master->request_queue);

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        fsm->state = ec_fsm_slave_state_idle;

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        return 0;

   271

    }

   272

   273

    if (slave->current_state == EC_SLAVE_STATE_INIT) {

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

   275

        request->state = EC_INT_REQUEST_FAILURE;

   276

        wake_up_all(&slave->master->request_queue);

   277

        fsm->state = ec_fsm_slave_state_idle;

   278

        return 0;

   279

    }

   280

   281

    fsm->sdo_request = request;

   282

    request->state = EC_INT_REQUEST_BUSY;

   283

   284

    // Found pending SDO request. Execute it!

   285

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

   286

   287

    // Start SDO transfer

   288

    fsm->state = ec_fsm_slave_state_sdo_request;

   289

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

   290

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

   291

    return 1;

   292

}

   293

   294

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

   295

   296

/** Slave state: SDO_REQUEST.

   297

 */

   298

void ec_fsm_slave_state_sdo_request(

   299

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

   300

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

   301

        )

   302

{

   303

    ec_slave_t *slave = fsm->slave;

   304

    ec_sdo_request_t *request = fsm->sdo_request;

   305

   306

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

   307

        return;

   308

    }

   309

   310

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

   311

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

   312

        request->state = EC_INT_REQUEST_FAILURE;

   313

        wake_up_all(&slave->master->request_queue);

   314

        fsm->sdo_request = NULL;

   315

        fsm->state = ec_fsm_slave_state_ready;

   316

        return;

   317

    }

   318

   319

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

   320

   321

    // SDO request finished

   322

    request->state = EC_INT_REQUEST_SUCCESS;

   323

    wake_up_all(&slave->master->request_queue);

   324

    fsm->sdo_request = NULL;

   325

    fsm->state = ec_fsm_slave_state_ready;

   326

}

   327

   328

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

   329

   330

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

   331

 *

   332

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

   333

 */

   334

int ec_fsm_slave_action_process_reg(

   335

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

   336

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

   337

        )

   338

{

   339

    ec_slave_t *slave = fsm->slave;

   340

    ec_reg_request_t *reg;

   341

   342

    fsm->reg_request = NULL;

   343

   344

    if (slave->config) {

   345

        // search the first internal register request to be processed

   346

        list_for_each_entry(reg, &slave->config->reg_requests, list) {

   347

            if (reg->state == EC_INT_REQUEST_QUEUED) {

   348

                fsm->reg_request = reg;

   349

                break;

   350

            }

   351

        }

   352

    }

   353

   354

    if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {

   355

        // take the first external request to be processed

   356

        fsm->reg_request =

   357

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   358

        list_del_init(&fsm->reg_request->list); // dequeue

   359

    }

   360

   361

    if (!fsm->reg_request) { // no register request to process

   362

        return 0;

   363

    }

   364

   365

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   366

        EC_SLAVE_WARN(slave, "Aborting register request,"

   367

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

   368

        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;

   369

        wake_up_all(&slave->master->request_queue);

   370

        fsm->reg_request = NULL;

   371

        fsm->state = ec_fsm_slave_state_idle;

   372

        return 0;

   373

    }

   374

   375

    // Found pending register request. Execute it!

   376

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

   377

   378

    fsm->reg_request->state = EC_INT_REQUEST_BUSY;

   379

   380

    // Start register access

   381

    if (fsm->reg_request->dir == EC_DIR_INPUT) {

   382

        ec_datagram_fprd(datagram, slave->station_address,

   383

                fsm->reg_request->address, fsm->reg_request->transfer_size);

   384

        ec_datagram_zero(datagram);

   385

    } else {

   386

        ec_datagram_fpwr(datagram, slave->station_address,

   387

                fsm->reg_request->address, fsm->reg_request->transfer_size);

   388

        memcpy(datagram->data, fsm->reg_request->data,

   389

                fsm->reg_request->transfer_size);

   390

    }

   391

    datagram->device_index = slave->device_index;

   392

    fsm->state = ec_fsm_slave_state_reg_request;

   393

    return 1;

   394

}

   395

   396

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

   397

   398

/** Slave state: Register request.

   399

 */

   400

void ec_fsm_slave_state_reg_request(

   401

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

   402

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

   403

        )

   404

{

   405

    ec_slave_t *slave = fsm->slave;

   406

    ec_reg_request_t *reg = fsm->reg_request;

   407

   408

    if (!reg) {

   409

        // configuration was cleared in the meantime

   410

        fsm->state = ec_fsm_slave_state_ready;

   411

        fsm->reg_request = NULL;

   412

        return;

   413

    }

   414

   415

    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {

   416

        EC_SLAVE_ERR(slave, "Failed to receive register"

   417

                " request datagram: ");

   418

        ec_datagram_print_state(fsm->datagram);

   419

        reg->state = EC_INT_REQUEST_FAILURE;

   420

        wake_up_all(&slave->master->request_queue);

   421

        fsm->reg_request = NULL;

   422

        fsm->state = ec_fsm_slave_state_ready;

   423

        return;

   424

    }

   425

   426

    if (fsm->datagram->working_counter == 1) {

   427

        if (reg->dir == EC_DIR_INPUT) { // read request

   428

            memcpy(reg->data, fsm->datagram->data, reg->transfer_size);

   429

        }

   430

   431

        reg->state = EC_INT_REQUEST_SUCCESS;

   432

        EC_SLAVE_DBG(slave, 1, "Register request successful.\n");

   433

    } else {

   434

        reg->state = EC_INT_REQUEST_FAILURE;

   435

        ec_datagram_print_state(fsm->datagram);

   436

        EC_SLAVE_ERR(slave, "Register request failed"

   437

                " (working counter is %u).\n",

   438

                fsm->datagram->working_counter);

   439

    }

   440

   441

    wake_up_all(&slave->master->request_queue);

   442

    fsm->reg_request = NULL;

   443

    fsm->state = ec_fsm_slave_state_ready;

   444

}

   445

   446

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

   447

   448

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

   449

 *

   450

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

   451

 */

   452

int ec_fsm_slave_action_process_foe(

   453

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

   454

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

   455

        )

   456

{

   457

    ec_slave_t *slave = fsm->slave;

   458

    ec_foe_request_t *request;

   459

   460

    if (list_empty(&slave->foe_requests)) {

   461

        return 0;

   462

    }

   463

   464

    // take the first request to be processed

   465

    request = list_entry(slave->foe_requests.next, ec_foe_request_t, list);

   466

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

   467

   468

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   469

        EC_SLAVE_WARN(slave, "Aborting FoE request,"

   470

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

   471

        request->state = EC_INT_REQUEST_FAILURE;

   472

        wake_up_all(&slave->master->request_queue);

   473

        fsm->state = ec_fsm_slave_state_idle;

   474

        return 0;

   475

    }

   476

   477

    request->state = EC_INT_REQUEST_BUSY;

   478

    fsm->foe_request = request;

   479

   480

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

   481

   482

    fsm->state = ec_fsm_slave_state_foe_request;

   483

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

   484

    ec_fsm_foe_exec(&fsm->fsm_foe, datagram);

   485

    return 1;

   486

}

   487

   488

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

   489

   490

/** Slave state: FOE REQUEST.

   491

 */

   492

void ec_fsm_slave_state_foe_request(

   493

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

   494

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

   495

        )

   496

{

   497

    ec_slave_t *slave = fsm->slave;