/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* EtherCAT slave (SDO) state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_slave.h"
/*****************************************************************************/
void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
void ec_fsm_slave_state_ready(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);
void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_reg(ec_fsm_slave_t *);
void ec_fsm_slave_state_reg_request(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);
void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);
int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);
void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_slave_init(
ec_fsm_slave_t *fsm, /**< Slave state machine. */
ec_slave_t *slave, /**< EtherCAT slave. */
ec_datagram_t *datagram /**< Datagram object to use. */
)
{
fsm->slave = slave;
fsm->datagram = datagram;
fsm->datagram->data_size = 0;
EC_SLAVE_DBG(slave, 1, "Init FSM.\n");
fsm->state = ec_fsm_slave_state_idle;
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_slave_clear(
ec_fsm_slave_t *fsm /**< Master state machine. */
)
{
// clear sub-state machines
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_foe_clear(&fsm->fsm_foe);
ec_fsm_soe_clear(&fsm->fsm_soe);
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*/
void ec_fsm_slave_exec(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
return;
}
fsm->state(fsm);
ec_datagram_output_stats(fsm->datagram);
}
/*****************************************************************************/
/** Sets the current state of the state machine to READY
*/
void ec_fsm_slave_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
if (fsm->state == ec_fsm_slave_state_idle) {
EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
fsm->state = ec_fsm_slave_state_ready;
}
}
/******************************************************************************
* Slave state machine
*****************************************************************************/
/** Slave state: IDLE.
*/
void ec_fsm_slave_state_idle(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// do nothing
}
/*****************************************************************************/
/** Slave state: READY.
*/
void ec_fsm_slave_state_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// Check for pending external SDO requests
if (ec_fsm_slave_action_process_sdo(fsm)) {
return;
}
// Check for pending external register requests
if (ec_fsm_slave_action_process_reg(fsm)) {
return;
}
// Check for pending FoE requests
if (ec_fsm_slave_action_process_foe(fsm)) {
return;
}
// Check for pending SoE requests
if (ec_fsm_slave_action_process_soe(fsm)) {
return;
}
}
/*****************************************************************************/
/** Check for pending SDO requests and process one.
*
* \return non-zero, if an SDO request is processed.
*/
int ec_fsm_slave_action_process_sdo(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request;
if (list_empty(&slave->sdo_requests)) {
return 0;
}
// take the first request to be processed
request = list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);
list_del_init(&request->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_SLAVE_WARN(slave, "Aborting SDO request,"
" slave has error flag set.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
request->state = EC_INT_REQUEST_BUSY;
// Found pending SDO request. Execute it!
EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
// Start SDO transfer
fsm->sdo_request = request;
fsm->state = ec_fsm_slave_state_sdo_request;
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, request);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return 1;
}
/*****************************************************************************/
/** Slave state: SDO_REQUEST.
*/
void ec_fsm_slave_state_sdo_request(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request = fsm->sdo_request;
if (ec_fsm_coe_exec(&fsm->fsm_coe)) {
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return;
}
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
}
EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&slave->master->request_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/
/** Check for pending register requests and process one.
*
* \return non-zero, if a register request is processed.
*/
int ec_fsm_slave_action_process_reg(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_reg_request_t *reg;
fsm->reg_request = NULL;
if (slave->config) {
// search the first internal register request to be processed
list_for_each_entry(reg, &slave->config->reg_requests, list) {
if (reg->state == EC_INT_REQUEST_QUEUED) {
fsm->reg_request = reg;
break;
}
}
}
if (!fsm->reg_request && !list_empty(&slave->reg_requests)) {
// take the first external request to be processed
fsm->reg_request =
list_entry(slave->reg_requests.next, ec_reg_request_t, list);
list_del_init(&fsm->reg_request->list); // dequeue
}
if (!fsm->reg_request) { // no register request to process
return 0;
}
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_SLAVE_WARN(slave, "Aborting register request,"
" slave has error flag set.\n");
fsm->reg_request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
// Found pending register request. Execute it!
EC_SLAVE_DBG(slave, 1, "Processing register request...\n");
fsm->reg_request->state = EC_INT_REQUEST_BUSY;
// Start register access
if (fsm->reg_request->dir == EC_DIR_INPUT) {
ec_datagram_fprd(fsm->datagram, slave->station_address,
fsm->reg_request->address, fsm->reg_request->transfer_size);
ec_datagram_zero(fsm->datagram);
} else {
ec_datagram_fpwr(fsm->datagram, slave->station_address,
fsm->reg_request->address, fsm->reg_request->transfer_size);
memcpy(fsm->datagram->data, fsm->reg_request->data,
fsm->reg_request->transfer_size);
}
fsm->datagram->device_index = slave->device_index;
ec_master_queue_external_datagram(slave->master, fsm->datagram);
fsm->state = ec_fsm_slave_state_reg_request;
return 1;
}
/*****************************************************************************/
/** Slave state: Register request.
*/
void ec_fsm_slave_state_reg_request(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_reg_request_t *reg = fsm->reg_request;
if (!reg) {
// configuration was cleared in the meantime
fsm->state = ec_fsm_slave_state_ready;
return;
}
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive register"
" request datagram: ");
ec_datagram_print_state(fsm->datagram);
reg->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
}
if (fsm->datagram->working_counter == 1) {
if (reg->dir == EC_DIR_INPUT) { // read request
memcpy(reg->data, fsm->datagram->data, reg->transfer_size);
}
reg->state = EC_INT_REQUEST_SUCCESS;
EC_SLAVE_DBG(slave, 1, "Register request successful.\n");
} else {
reg->state = EC_INT_REQUEST_FAILURE;
ec_datagram_print_state(fsm->datagram);
EC_SLAVE_ERR(slave, "Register request failed"
" (working counter is %u).\n",
fsm->datagram->working_counter);
}
wake_up(&slave->master->request_queue);
fsm->reg_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/
/** Check for pending FoE requests and process one.
*
* \return non-zero, if an FoE request is processed.
*/
int ec_fsm_slave_action_process_foe(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_foe_request_t *request;
if (list_empty(&slave->foe_requests)) {
return 0;
}
// take the first request to be processed
request = list_entry(slave->foe_requests.next, ec_foe_request_t, list);
list_del_init(&request->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_SLAVE_WARN(slave, "Aborting FoE request,"
" slave has error flag set.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
request->state = EC_INT_REQUEST_BUSY;
EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
fsm->foe_request = request;
fsm->state = ec_fsm_slave_state_foe_request;
ec_fsm_foe_transfer(&fsm->fsm_foe, slave, request);
ec_fsm_foe_exec(&fsm->fsm_foe);
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return 1;
}
/*****************************************************************************/
/** Slave state: FOE REQUEST.
*/
void ec_fsm_slave_state_foe_request(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_foe_request_t *request = fsm->foe_request;
if (ec_fsm_foe_exec(&fsm->fsm_foe)) {
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return;
}
if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
}
// finished transferring FoE
EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
" data.\n", request->data_size);
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&slave->master->request_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/
/** Check for pending SoE requests and process one.
*
* \return non-zero, if a request is processed.
*/
int ec_fsm_slave_action_process_soe(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *req;
if (list_empty(&slave->soe_requests)) {
return 0;
}
// take the first request to be processed
req = list_entry(slave->soe_requests.next, ec_soe_request_t, list);
list_del_init(&req->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_SLAVE_WARN(slave, "Aborting SoE request,"
" slave has error flag set.\n");
req->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->state = ec_fsm_slave_state_idle;
return 1;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
req->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
req->state = EC_INT_REQUEST_BUSY;
// Found pending request. Execute it!
EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
// Start SoE transfer
fsm->soe_request = req;
fsm->state = ec_fsm_slave_state_soe_request;
ec_fsm_soe_transfer(&fsm->fsm_soe, slave, req);
ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return 1;
}
/*****************************************************************************/
/** Slave state: SOE_REQUEST.
*/
void ec_fsm_slave_state_soe_request(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *request = fsm->soe_request;
if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
return;
}
if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->master->request_queue);
fsm->soe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
return;
}
EC_SLAVE_DBG(slave, 1, "Finished SoE request.\n");
// SoE request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&slave->master->request_queue);
fsm->soe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/