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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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 *

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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"

    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 *);

    49

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. */

    64

        )

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{

    66

    fsm->slave = slave;

    67

    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);

    77

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

    78

}

    79

    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) {

   107

        // datagram was not sent or received yet.

   108

        return;

   109

    }

   110

   111

    fsm->state(fsm);

   112

   113

    ec_datagram_output_stats(fsm->datagram);

   114

}

   115

   116

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

   117

   118

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

   119

 */

   120

void ec_fsm_slave_ready(

   121

        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;

   127

    }

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}

   129

   130

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

   131

 * Slave state machine

   132

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

   133

   134

/** Slave state: IDLE.

   135

 */

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void ec_fsm_slave_state_idle(

   137

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

   138

        )

   139

{

   140

    // do nothing

   141

}

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   143

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

   144

   145

/** Slave state: READY.

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 */

   147

void ec_fsm_slave_state_ready(

   148

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

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        )

   150

{

   151

    // Check for pending external SDO requests

   152

    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

    }

   165

   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;

   183

    ec_master_sdo_request_t *request, *next;

   184

   185

    // search the first external request to be processed

   186

    list_for_each_entry_safe(request, next,

   187

            &slave->slave_sdo_requests, list) {

   188

   189

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

   190

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   191

            EC_SLAVE_WARN(slave, "Aborting SDO request,"

   192

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

   193

            request->req.state = EC_INT_REQUEST_FAILURE;

   194

            wake_up(&slave->sdo_queue);

   195

            fsm->sdo_request = NULL;

   196

            fsm->state = ec_fsm_slave_state_idle;

   197

            return 0;

   198

        }

   199

   200

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

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

   202

            request->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->sdo_queue);

   204

            fsm->sdo_request = NULL;

   205

            fsm->state = ec_fsm_slave_state_idle;

   206

            return 0;

   207

        }

   208

   209

        request->req.state = EC_INT_REQUEST_BUSY;

   210

   211

        // Found pending SDO request. Execute it!

   212

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

   213

   214

        // Start SDO transfer

   215

        fsm->sdo_request = &request->req;

   216

        fsm->state = ec_fsm_slave_state_sdo_request;

   217

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

   218

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

   219

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

   220

        return 1;

   221

    }

   222

    return 0;

   223

}

   224

   225

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

   226

   227

/** Slave state: SDO_REQUEST.

   228

 */

   229

void ec_fsm_slave_state_sdo_request(

   230

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

   231

        )

   232

{

   233

    ec_slave_t *slave = fsm->slave;

   234

    ec_sdo_request_t *request = fsm->sdo_request;

   235

   236

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

   237

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

   238

        return;

   239

    }

   240

   241

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

   242

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

   243

        request->state = EC_INT_REQUEST_FAILURE;

   244

        wake_up(&slave->sdo_queue);

   245

        fsm->sdo_request = NULL;

   246

        fsm->state = ec_fsm_slave_state_ready;

   247

        return;

   248

    }

   249

   250

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

   251

   252

    // SDO request finished

   253

    request->state = EC_INT_REQUEST_SUCCESS;

   254

    wake_up(&slave->sdo_queue);

   255

   256

    fsm->sdo_request = NULL;

   257

    fsm->state = ec_fsm_slave_state_ready;

   258

}

   259

   260

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

   261

   262

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

   263

 *

   264

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

   265

 */

   266

int ec_fsm_slave_action_process_reg(

   267

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

   268

        )

   269

{

   270

    ec_slave_t *slave = fsm->slave;

   271

    ec_reg_request_t *reg, *next;

   272

   273

    fsm->reg_request = NULL;

   274

   275

    if (slave->config) {

   276

        // search the first internal register request to be processed

   277

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

   278

            if (reg->state == EC_INT_REQUEST_QUEUED) {

   279

                fsm->reg_request = reg;

   280

                break;

   281

            }

   282

        }

   283

    }

   284

   285

    if (!fsm->reg_request) {

   286

        // search the first external request to be processed

   287

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

   288

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

   289

            fsm->reg_request = reg;

   290

            break;

   291

        }

   292

    }

   293

   294

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

   295

        return 0;

   296

    }

   297

   298

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   299

        EC_SLAVE_WARN(slave, "Aborting register request,"

   300

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

   301

        reg->state = EC_INT_REQUEST_FAILURE;

   302

        wake_up(&slave->reg_queue);

   303

        fsm->state = ec_fsm_slave_state_idle;

   304

        return 1;

   305

    }

   306

   307

    // Found pending register request. Execute it!

   308

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

   309

   310

    reg->state = EC_INT_REQUEST_BUSY;

   311

   312

    // Start register access

   313

    if (reg->dir == EC_DIR_INPUT) {

   314

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

   315

                reg->address, reg->transfer_size);

   316

        ec_datagram_zero(fsm->datagram);

   317

    } else {

   318

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

   319

                reg->address, reg->transfer_size);

   320

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

   321

    }

   322

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

   323

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

   324

    fsm->state = ec_fsm_slave_state_reg_request;

   325

    return 1;

   326

}

   327

   328

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

   329

   330

/** Slave state: Register request.

   331

 */

   332

void ec_fsm_slave_state_reg_request(

   333

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

   334

        )

   335

{

   336

    ec_slave_t *slave = fsm->slave;

   337

    ec_reg_request_t *reg = fsm->reg_request;

   338

   339

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

   340

        EC_SLAVE_ERR(slave, "Failed to receive register"

   341

                " request datagram: ");

   342

        ec_datagram_print_state(fsm->datagram);

   343

        reg->state = EC_INT_REQUEST_FAILURE;

   344

        wake_up(&slave->reg_queue);

   345

        fsm->state = ec_fsm_slave_state_ready;

   346

        return;

   347

    }

   348

   349

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

   350

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

   351

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

   352

        }

   353

   354

        reg->state = EC_INT_REQUEST_SUCCESS;

   355

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

   356

    } else {

   357

        reg->state = EC_INT_REQUEST_FAILURE;

   358

        ec_datagram_print_state(fsm->datagram);

   359

        EC_SLAVE_ERR(slave, "Register request failed"

   360

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

   361

                fsm->datagram->working_counter);

   362

    }

   363

   364

    wake_up(&slave->reg_queue);

   365

    fsm->state = ec_fsm_slave_state_ready;

   366

}

   367

   368

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

   369

   370

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

   371

 *

   372

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

   373

 */

   374

int ec_fsm_slave_action_process_foe(

   375

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

   376

        )

   377

{

   378

    ec_slave_t *slave = fsm->slave;

   379

    ec_master_foe_request_t *request, *next;

   380

   381

    // search the first request to be processed

   382

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

   383

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   384

            EC_SLAVE_WARN(slave, "Aborting FoE request,"

   385

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

   386

            request->req.state = EC_INT_REQUEST_FAILURE;

   387

            wake_up(&slave->sdo_queue);

   388

            fsm->sdo_request = NULL;

   389

            fsm->state = ec_fsm_slave_state_idle;

   390

            return 0;

   391

        }

   392

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

   393

        request->req.state = EC_INT_REQUEST_BUSY;

   394

   395

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

   396

   397

        fsm->foe_request = &request->req;

   398

        fsm->state = ec_fsm_slave_state_foe_request;

   399

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

   400

        ec_fsm_foe_exec(&fsm->fsm_foe);

   401

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

   402

        return 1;

   403

    }

   404

    return 0;

   405

}

   406

   407

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

   408

   409

/** Slave state: FOE REQUEST.

   410

 */

   411

void ec_fsm_slave_state_foe_request(

   412

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

   413

        )

   414

{

   415

    ec_slave_t *slave = fsm->slave;

   416

    ec_foe_request_t *request = fsm->foe_request;

   417

   418

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

   419

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

   420

        return;

   421

    }

   422

   423

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

   424

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

   425

        request->state = EC_INT_REQUEST_FAILURE;

   426

        wake_up(&slave->foe_queue);

   427

        fsm->foe_request = NULL;

   428

        fsm->state = ec_fsm_slave_state_ready;

   429

        return;

   430

    }

   431

   432

    // finished transferring FoE

   433

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

   434

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

   435

   436

    request->state = EC_INT_REQUEST_SUCCESS;

   437

    wake_up(&slave->foe_queue);

   438

   439

    fsm->foe_request = NULL;

   440

    fsm->state = ec_fsm_slave_state_ready;

   441

}

   442

   443

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

   444

   445

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

   446

 *

   447

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

   448

 */

   449

int ec_fsm_slave_action_process_soe(

   450

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

   451

        )

   452

{

   453

    ec_slave_t *slave = fsm->slave;

   454

    ec_master_soe_request_t *req, *next;

   455

   456

    // search the first request to be processed

   457

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

   458

   459

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

   460

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   461

            EC_SLAVE_WARN(slave, "Aborting SoE request,"

   462

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

   463

            req->req.state = EC_INT_REQUEST_FAILURE;

   464

            wake_up(&slave->soe_queue);

   465

            fsm->state = ec_fsm_slave_state_idle;

   466

            return 0;

   467

        }

   468

   469

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   470

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

   471

            req->req.state = EC_INT_REQUEST_FAILURE;

   472

            wake_up(&slave->soe_queue);

   473

            fsm->state = ec_fsm_slave_state_idle;

   474

            return 0;

   475

        }

   476

   477

        req->req.state = EC_INT_REQUEST_BUSY;

   478

   479

        // Found pending request. Execute it!

   480

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

   481

   482

        // Start SoE transfer

   483

        fsm->soe_request = &req->req;

   484

        fsm->state = ec_fsm_slave_state_soe_request;

   485

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

   486

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

   487

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

   488

        return 1;

   489

    }

   490

    return 0;

   491

}

   492

   493

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

   494

   495

/** Slave state: SOE_REQUEST.

   496

 */

   497

void ec_fsm_slave_state_soe_request(

   498

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