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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.

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 *

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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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 *

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 *  ---

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

    29

    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 *);

    46

void ec_fsm_slave_state_ready(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);

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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *);

    50

void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *);

    51

int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);

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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);

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void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);

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    56

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

    57

    58

/** Constructor.

    59

 */

    60

void ec_fsm_slave_init(

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

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

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

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        )

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{

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    fsm->slave = slave;

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    fsm->datagram = datagram;

    68

    fsm->datagram->data_size = 0;

    69

    70

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

    71

    72

    fsm->state = ec_fsm_slave_state_idle;

    73

    74

    // init sub-state-machines

    75

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

    76

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

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

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}

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    80

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

    81

    82

/** Destructor.

    83

 */

    84

void ec_fsm_slave_clear(

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

    86

        )

    87

{

    88

    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

    90

    ec_fsm_foe_clear(&fsm->fsm_foe);

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    ec_fsm_soe_clear(&fsm->fsm_soe);

    92

}

    93

    94

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

    95

    96

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

    97

 *

    98

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

    99

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

   100

 */

   101

void ec_fsm_slave_exec(

   102

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

   103

        )

   104

{

   105

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

   106

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

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        // datagram was not sent or received yet.

   108

        return;

   109

    }

   110

   111

    fsm->state(fsm);

   112

   113

    ec_datagram_output_stats(fsm->datagram);

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}

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   116

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

   117

   118

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

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 */

   120

void ec_fsm_slave_ready(

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

   122

        )

   123

{

   124

    if (fsm->state == ec_fsm_slave_state_idle) {

   125

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

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        fsm->state = ec_fsm_slave_state_ready;

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    }

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}

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   130

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

   131

 * Slave state machine

   132

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

   133

   134

/** Slave state: IDLE.

   135

 */

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void ec_fsm_slave_state_idle(

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

   138

        )

   139

{

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    // do nothing

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}

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

   144

   145

/** Slave state: READY.

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 */

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void ec_fsm_slave_state_ready(

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

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        )

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{

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    // Check for pending external SDO requests

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    if (ec_fsm_slave_action_process_sdo(fsm)) {

   153

        return;

   154

    }

   155

   156

    // Check for pending external register requests

   157

    if (ec_fsm_slave_action_process_reg(fsm)) {

   158

        return;

   159

    }

   160

   161

    // Check for pending FoE requests

   162

    if (ec_fsm_slave_action_process_foe(fsm)) {

   163

        return;

   164

    }

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   166

    // Check for pending SoE requests

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    if (ec_fsm_slave_action_process_soe(fsm)) {

   168

        return;

   169

    }

   170

}

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   172

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

   173

   174

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

   175

 *

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

   177

 */

   178

int ec_fsm_slave_action_process_sdo(

   179

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

   180

        )

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{

   182

    ec_slave_t *slave = fsm->slave;

   183

    ec_sdo_request_t *request;

   184

   185

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

   186

        return 0;

   187

    }

   188

   189

    // take the first request to be processed

   190

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

   191

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

   192

   193

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   194

        EC_SLAVE_WARN(slave, "Aborting SDO request,"

   195

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

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        request->state = EC_INT_REQUEST_FAILURE;

   197

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

   198

        fsm->state = ec_fsm_slave_state_idle;

   199

        return 1;

   200

    }

   201

   202

    if (slave->current_state == EC_SLAVE_STATE_INIT) {

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

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        request->state = EC_INT_REQUEST_FAILURE;

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

   206

        fsm->state = ec_fsm_slave_state_idle;

   207

        return 1;

   208

    }

   209

   210

    request->state = EC_INT_REQUEST_BUSY;

   211

   212

    // Found pending SDO request. Execute it!

   213

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

   214

   215

    // Start SDO transfer

   216

    fsm->sdo_request = request;

   217

    fsm->state = ec_fsm_slave_state_sdo_request;

   218

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

   219

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

   220

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

   221

    return 1;

   222

}

   223

   224

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

   225

   226

/** Slave state: SDO_REQUEST.

   227

 */

   228

void ec_fsm_slave_state_sdo_request(

   229

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

   230

        )

   231

{

   232

    ec_slave_t *slave = fsm->slave;

   233

    ec_sdo_request_t *request = fsm->sdo_request;

   234

   235

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

   236

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

   237

        return;

   238

    }

   239

   240

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

   241

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

   242

        request->state = EC_INT_REQUEST_FAILURE;

   243

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

   244

        fsm->sdo_request = NULL;

   245

        fsm->state = ec_fsm_slave_state_ready;

   246

        return;

   247

    }

   248

   249

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

   250

   251

    // SDO request finished

   252

    request->state = EC_INT_REQUEST_SUCCESS;

   253

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

   254

    fsm->sdo_request = NULL;

   255

    fsm->state = ec_fsm_slave_state_ready;

   256

}

   257

   258

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

   259

   260

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

   261

 *

   262

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

   263

 */

   264

int ec_fsm_slave_action_process_reg(

   265

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

   266

        )

   267

{

   268

    ec_slave_t *slave = fsm->slave;

   269

    ec_reg_request_t *reg;

   270

   271

    fsm->reg_request = NULL;

   272

   273

    if (slave->config) {

   274

        // search the first internal register request to be processed

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

   276

            if (reg->state == EC_INT_REQUEST_QUEUED) {

   277

                fsm->reg_request = reg;

   278

                break;

   279

            }

   280

        }

   281

    }

   282

   283

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

   284

        // take the first external request to be processed

   285

        fsm->reg_request =

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

   287

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

   288

    }

   289

   290

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

   291

        return 0;

   292

    }

   293

   294

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   295

        EC_SLAVE_WARN(slave, "Aborting register request,"

   296

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

   297

        fsm->reg_request->state = EC_INT_REQUEST_FAILURE;

   298

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

   299

        fsm->reg_request = NULL;

   300

        fsm->state = ec_fsm_slave_state_idle;

   301

        return 1;

   302

    }

   303

   304

    // Found pending register request. Execute it!

   305

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

   306

   307

    fsm->reg_request->state = EC_INT_REQUEST_BUSY;

   308

   309

    // Start register access

   310

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

   311

        ec_datagram_fprd(fsm->datagram, slave->station_address,

   312

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

   313

        ec_datagram_zero(fsm->datagram);

   314

    } else {

   315

        ec_datagram_fpwr(fsm->datagram, slave->station_address,

   316

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

   317

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

   318

                fsm->reg_request->transfer_size);

   319

    }

   320

    fsm->datagram->device_index = slave->device_index;

   321

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

   322

    fsm->state = ec_fsm_slave_state_reg_request;

   323

    return 1;

   324

}

   325

   326

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

   327

   328

/** Slave state: Register request.

   329

 */

   330

void ec_fsm_slave_state_reg_request(

   331

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

   332

        )

   333

{

   334

    ec_slave_t *slave = fsm->slave;

   335

    ec_reg_request_t *reg = fsm->reg_request;

   336

   337

    if (!reg) {

   338

        // configuration was cleared in the meantime

   339

        fsm->state = ec_fsm_slave_state_ready;

   340

        return;

   341

    }

   342

   343

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

   344

        EC_SLAVE_ERR(slave, "Failed to receive register"

   345

                " request datagram: ");

   346

        ec_datagram_print_state(fsm->datagram);

   347

        reg->state = EC_INT_REQUEST_FAILURE;

   348

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

   349

        fsm->reg_request = NULL;

   350

        fsm->state = ec_fsm_slave_state_ready;

   351

        return;

   352

    }

   353

   354

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

   355

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

   356

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

   357

        }

   358

   359

        reg->state = EC_INT_REQUEST_SUCCESS;

   360

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

   361

    } else {

   362

        reg->state = EC_INT_REQUEST_FAILURE;

   363

        ec_datagram_print_state(fsm->datagram);

   364

        EC_SLAVE_ERR(slave, "Register request failed"

   365

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

   366

                fsm->datagram->working_counter);

   367

    }

   368

   369

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

   370

    fsm->reg_request = NULL;

   371

    fsm->state = ec_fsm_slave_state_ready;

   372

}

   373

   374

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

   375

   376

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

   377

 *

   378

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

   379

 */

   380

int ec_fsm_slave_action_process_foe(

   381

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

   382

        )

   383

{

   384

    ec_slave_t *slave = fsm->slave;

   385

    ec_foe_request_t *request;

   386

   387

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

   388

        return 0;

   389

    }

   390

   391

    // take the first request to be processed

   392

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

   393

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

   394

   395

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   396

        EC_SLAVE_WARN(slave, "Aborting FoE request,"

   397

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

   398

        request->state = EC_INT_REQUEST_FAILURE;

   399

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

   400

        fsm->state = ec_fsm_slave_state_idle;

   401

        return 1;

   402

    }

   403

   404

    request->state = EC_INT_REQUEST_BUSY;

   405

   406

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

   407

   408

    fsm->foe_request = request;

   409

    fsm->state = ec_fsm_slave_state_foe_request;

   410

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

   411

    ec_fsm_foe_exec(&fsm->fsm_foe);

   412

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

   413

    return 1;

   414

}

   415

   416

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

   417

   418

/** Slave state: FOE REQUEST.

   419

 */

   420

void ec_fsm_slave_state_foe_request(

   421

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

   422

        )

   423

{

   424

    ec_slave_t *slave = fsm->slave;

   425

    ec_foe_request_t *request = fsm->foe_request;

   426

   427

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

   428

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

   429

        return;

   430

    }

   431

   432

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

   433

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

   434

        request->state = EC_INT_REQUEST_FAILURE;

   435

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

   436

        fsm->foe_request = NULL;

   437

        fsm->state = ec_fsm_slave_state_ready;

   438

        return;

   439

    }

   440

   441

    // finished transferring FoE

   442

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

   443

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

   444

   445

    request->state = EC_INT_REQUEST_SUCCESS;

   446

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

   447

    fsm->foe_request = NULL;

   448

    fsm->state = ec_fsm_slave_state_ready;

   449

}

   450

   451

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

   452

   453

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

   454

 *

   455

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

   456

 */

   457

int ec_fsm_slave_action_process_soe(

   458

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

   459

        )

   460

{

   461

    ec_slave_t *slave = fsm->slave;

   462

    ec_soe_request_t *req;

   463

   464

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

   465

        return 0;

   466

    }

   467

   468

    // take the first request to be processed

   469

    req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);

   470

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

   471

   472

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   473

        EC_SLAVE_WARN(slave, "Aborting SoE request,"

   474

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

   475

        req->state = EC_INT_REQUEST_FAILURE;

   476

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

   477

        fsm->state = ec_fsm_slave_state_idle;

   478

        return 1;

   479

    }

   480

   481

    if (slave->current_state == EC_SLAVE_STATE_INIT) {

   482

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

   483

        req->state = EC_INT_REQUEST_FAILURE;

   484

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

   485

        fsm->state = ec_fsm_slave_state_idle;

   486

        return 0;

   487

    }

   488

   489

    req->state = EC_INT_REQUEST_BUSY;

   490

   491

    // Found pending request. Execute it!

   492

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

   493

   494

    // Start SoE transfer

   495

    fsm->soe_request = req;

   496

    fsm->state = ec_fsm_slave_state_soe_request;