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

    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"

    42

    43

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

    44

    45

void ec_fsm_slave_state_idle(ec_fsm_slave_t *);

    46

void ec_fsm_slave_state_ready(ec_fsm_slave_t *);

    47

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 *);

    52

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);

    78

}

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    80

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

    81

    82

/** Destructor.

    83

 */

    84

void ec_fsm_slave_clear(

    85

        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);

    91

    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) {

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        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.

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 */

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void ec_fsm_slave_state_idle(

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

   138

        )

   139

{

   140

    // 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(

   148

        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

   167

    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

 *

   176

 * \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

        )

   181

{

   182

    ec_slave_t *slave = fsm->slave;

   184

   185

    // search the first external request to be processed

   186

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

   187

   188

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

   189

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

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            EC_SLAVE_WARN(slave, "Aborting SDO request,"

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

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            wake_up(&slave->sdo_queue);

   194

            fsm->sdo_request = NULL;

   195

            fsm->state = ec_fsm_slave_state_idle;

   196

            return 0;

   197

        }

   198

   199

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   200

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

   202

            wake_up(&slave->sdo_queue);

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            fsm->sdo_request = NULL;

   204

            fsm->state = ec_fsm_slave_state_idle;

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            return 0;

   206

        }

   207

   209

   210

        // Found pending SDO request. Execute it!

   211

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

   212

   213

        // Start SDO transfer

   215

        fsm->state = ec_fsm_slave_state_sdo_request;

   217

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

   218

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

   219

        return 1;

   220

    }

   221

    return 0;

   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->sdo_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->sdo_queue);

   254

   255

    fsm->sdo_request = NULL;

   256

    fsm->state = ec_fsm_slave_state_ready;

   257

}

   258

   259

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

   260

   261

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

   262

 *

   263

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

   264

 */

   265

int ec_fsm_slave_action_process_reg(

   266

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

   267

        )

   268

{

   269

    ec_slave_t *slave = fsm->slave;

   270

    ec_reg_request_t *reg, *next;

   271

   272

    fsm->reg_request = NULL;

   273

   274

    if (slave->config) {

   275

        // search the first internal register request to be processed

   276

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

   277

            if (reg->state == EC_INT_REQUEST_QUEUED) {

   278

                fsm->reg_request = reg;

   279

                break;

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            }

   281

        }

   282

    }

   283

   284

    if (!fsm->reg_request) {

   285

        // search the first external request to be processed

   286

        list_for_each_entry_safe(reg, next, &slave->reg_requests, list) {

   287

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

   288

            fsm->reg_request = reg;

   289

            break;

   290

        }

   291

    }

   292

   293

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

   294

        return 0;

   295

    }

   296

   297

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   298

        EC_SLAVE_WARN(slave, "Aborting register request,"

   299

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

   300

        reg->state = EC_INT_REQUEST_FAILURE;

   301

        wake_up(&slave->reg_queue);

   302

        fsm->state = ec_fsm_slave_state_idle;

   303

        return 1;

   304

    }

   305

   306

    // Found pending register request. Execute it!

   307

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

   308

   309

    reg->state = EC_INT_REQUEST_BUSY;

   310

   311

    // Start register access

   312

    if (reg->dir == EC_DIR_INPUT) {

   313

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

   314

                reg->address, reg->transfer_size);

   315

        ec_datagram_zero(fsm->datagram);

   316

    } else {

   317

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

   318

                reg->address, reg->transfer_size);

   319

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

   320

    }

   321

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

   322

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

   323

    fsm->state = ec_fsm_slave_state_reg_request;

   324

    return 1;

   325

}

   326

   327

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

   328

   329

/** Slave state: Register request.

   330

 */

   331

void ec_fsm_slave_state_reg_request(

   332

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

   333

        )

   334

{

   335

    ec_slave_t *slave = fsm->slave;

   336

    ec_reg_request_t *reg = fsm->reg_request;

   337

   338

    if (!reg) {

   339

        // configuration was cleared in the meantime

   340

        fsm->state = ec_fsm_slave_state_ready;

   341

        return;

   342

    }

   343

   344

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

   345

        EC_SLAVE_ERR(slave, "Failed to receive register"

   346

                " request datagram: ");

   347

        ec_datagram_print_state(fsm->datagram);

   348

        reg->state = EC_INT_REQUEST_FAILURE;

   349

        wake_up(&slave->reg_queue);

   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->reg_queue);

   370

    fsm->state = ec_fsm_slave_state_ready;

   371

}

   372

   373

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

   374

   375

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

   376

 *

   377

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

   378

 */

   379

int ec_fsm_slave_action_process_foe(

   380

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

   381

        )

   382

{

   383

    ec_slave_t *slave = fsm->slave;

   384

    ec_master_foe_request_t *request, *next;

   385

   386

    // search the first request to be processed

   387

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

   388

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   389

            EC_SLAVE_WARN(slave, "Aborting FoE request,"

   390

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

   391

            request->req.state = EC_INT_REQUEST_FAILURE;

   392

            wake_up(&slave->sdo_queue);

   393

            fsm->sdo_request = NULL;

   394

            fsm->state = ec_fsm_slave_state_idle;

   395

            return 0;

   396

        }

   397

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

   398

        request->req.state = EC_INT_REQUEST_BUSY;

   399

   400

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

   401

   402

        fsm->foe_request = &request->req;

   403

        fsm->state = ec_fsm_slave_state_foe_request;

   404

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

   405

        ec_fsm_foe_exec(&fsm->fsm_foe);

   406

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

   407

        return 1;

   408

    }

   409

    return 0;

   410

}

   411

   412

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

   413

   414

/** Slave state: FOE REQUEST.

   415

 */

   416

void ec_fsm_slave_state_foe_request(

   417

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

   418

        )

   419

{

   420

    ec_slave_t *slave = fsm->slave;

   421

    ec_foe_request_t *request = fsm->foe_request;

   422

   423

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

   424

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

   425

        return;

   426

    }

   427

   428

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

   429

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

   430

        request->state = EC_INT_REQUEST_FAILURE;

   431

        wake_up(&slave->foe_queue);

   432

        fsm->foe_request = NULL;

   433

        fsm->state = ec_fsm_slave_state_ready;

   434

        return;

   435

    }

   436

   437

    // finished transferring FoE

   438

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

   439

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

   440

   441

    request->state = EC_INT_REQUEST_SUCCESS;

   442

    wake_up(&slave->foe_queue);

   443

   444

    fsm->foe_request = NULL;

   445

    fsm->state = ec_fsm_slave_state_ready;

   446

}

   447

   448

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

   449

   450

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

   451

 *

   452

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

   453

 */

   454

int ec_fsm_slave_action_process_soe(

   455

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

   456

        )

   457

{

   458

    ec_slave_t *slave = fsm->slave;

   459

    ec_master_soe_request_t *req, *next;

   460

   461

    // search the first request to be processed

   462

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

   463

   464

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

   465

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   466

            EC_SLAVE_WARN(slave, "Aborting SoE request,"

   467

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

   468

            req->req.state = EC_INT_REQUEST_FAILURE;

   469

            wake_up(&slave->soe_queue);

   470

            fsm->state = ec_fsm_slave_state_idle;

   471

            return 0;

   472

        }

   473

   474

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   475

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

   476

            req->req.state = EC_INT_REQUEST_FAILURE;

   477

            wake_up(&slave->soe_queue);

   478

            fsm->state = ec_fsm_slave_state_idle;

   479

            return 0;

   480

        }

   481

   482

        req->req.state = EC_INT_REQUEST_BUSY;

   483

   484

        // Found pending request. Execute it!

   485

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

   486

   487

        // Start SoE transfer

   488

        fsm->soe_request = &req->req;

   489

        fsm->state = ec_fsm_slave_state_soe_request;

   490

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

   491

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

   492

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

   493

        return 1;

   494

    }

   495

    return 0;

   496

}

   497