martin@1583: /******************************************************************************
martin@1583:  *
fp@2099:  *  $Id$
martin@1583:  *
martin@1583:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
martin@1583:  *
martin@1583:  *  This file is part of the IgH EtherCAT Master.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
martin@1583:  *  modify it under the terms of the GNU General Public License version 2, as
martin@1583:  *  published by the Free Software Foundation.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
martin@1583:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
martin@1583:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
martin@1583:  *  Public License for more details.
martin@1583:  *
martin@1583:  *  You should have received a copy of the GNU General Public License along
martin@1583:  *  with the IgH EtherCAT Master; if not, write to the Free Software
martin@1583:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
martin@1583:  *
martin@1583:  *  ---
martin@1583:  *
martin@1583:  *  The license mentioned above concerns the source code only. Using the
martin@1583:  *  EtherCAT technology and brand is only permitted in compliance with the
martin@1583:  *  industrial property and similar rights of Beckhoff Automation GmbH.
martin@1583:  *
martin@1583:  *****************************************************************************/
martin@1583: 
martin@1583: /** \file
martin@1583:  * EtherCAT slave (SDO) state machine.
martin@1583:  */
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: #include "globals.h"
martin@1583: #include "master.h"
martin@1583: #include "mailbox.h"
martin@1583: 
martin@1583: #include "fsm_slave.h"
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
martin@1601: void ec_fsm_slave_state_ready(ec_fsm_slave_t *);
martin@1597: int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);
fp@1831: void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
martin@1597: int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);
martin@1597: void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);
fp@1831: int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);
fp@1831: void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Constructor.
martin@1583:  */
martin@1583: void ec_fsm_slave_init(
martin@1583:         ec_fsm_slave_t *fsm, /**< Slave state machine. */
martin@1583:         ec_slave_t *slave, /**< EtherCAT slave. */
martin@1583:         ec_datagram_t *datagram /**< Datagram object to use. */
martin@1583:         )
martin@1583: {
martin@1583:     fsm->slave = slave;
martin@1583:     fsm->datagram = datagram;
martin@1583:     fsm->datagram->data_size = 0;
fp@1804: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Init FSM.\n");
fp@1804: 
fp@1804:     fsm->state = ec_fsm_slave_state_idle;
martin@1583: 
martin@1583:     // init sub-state-machines
martin@1583:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
martin@1597:     ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
fp@1831:     ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);
martin@1583: }
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Destructor.
martin@1583:  */
martin@1583: void ec_fsm_slave_clear(
martin@1583:         ec_fsm_slave_t *fsm /**< Master state machine. */
martin@1583:         )
martin@1583: {
martin@1583:     // clear sub-state machines
martin@1583:     ec_fsm_coe_clear(&fsm->fsm_coe);
martin@1597:     ec_fsm_foe_clear(&fsm->fsm_foe);
fp@1831:     ec_fsm_soe_clear(&fsm->fsm_soe);
martin@1583: }
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Executes the current state of the state machine.
martin@1583:  *
martin@1583:  * If the state machine's datagram is not sent or received yet, the execution
martin@1583:  * of the state machine is delayed to the next cycle.
martin@1583:  */
martin@1583: void ec_fsm_slave_exec(
martin@1583:         ec_fsm_slave_t *fsm /**< Slave state machine. */
martin@1583:         )
martin@1583: {
martin@1583:     if (fsm->datagram->state == EC_DATAGRAM_SENT
martin@1583:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
martin@1583:         // datagram was not sent or received yet.
martin@1583:         return;
martin@1583:     }
martin@1583: 
martin@1583:     fsm->state(fsm);
martin@1583: }
martin@1583: 
martin@1601: /*****************************************************************************/
martin@1601: 
martin@1601: /** Sets the current state of the state machine to READY
martin@1601:  */
martin@1601: void ec_fsm_slave_ready(
fp@1804:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1804:         )
fp@1804: {
fp@1804:     if (fsm->state == ec_fsm_slave_state_idle) {
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "Ready for requests.\n");
fp@1804:         fsm->state = ec_fsm_slave_state_ready;
fp@1804:     }
martin@1601: }
martin@1601: 
martin@1583: /******************************************************************************
martin@1583:  * Slave state machine
martin@1583:  *****************************************************************************/
martin@1583: 
martin@1583: /** Slave state: IDLE.
martin@1583:  */
martin@1583: void ec_fsm_slave_state_idle(
fp@1804:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1804:         )
fp@1804: {
fp@1804:     // do nothing
martin@1601: }
martin@1601: 
martin@1601: 
martin@1601: /*****************************************************************************/
martin@1601: 
martin@1601: /** Slave state: READY.
martin@1601:  */
martin@1601: void ec_fsm_slave_state_ready(
fp@1804:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1804:         )
fp@1804: {
fp@1804:     // Check for pending external SDO requests
fp@2304:     if (ec_fsm_slave_action_process_sdo(fsm)) {
fp@2304:         return;
fp@2304:     }
fp@1804: 
fp@1831:     // Check for pending FoE requests
fp@2304:     if (ec_fsm_slave_action_process_foe(fsm)) {
fp@2304:         return;
fp@2304:     }
fp@1831: 
fp@1831:     // Check for pending SoE requests
fp@2304:     if (ec_fsm_slave_action_process_soe(fsm)) {
fp@2304:         return;
fp@2304:     }
fp@1804: }
martin@1597: 
martin@1597: /*****************************************************************************/
martin@1597: 
martin@1597: /** Check for pending SDO requests and process one.
martin@1597:  *
martin@1597:  * \return non-zero, if an SDO request is processed.
martin@1597:  */
martin@1597: int ec_fsm_slave_action_process_sdo(
martin@1597:         ec_fsm_slave_t *fsm /**< Slave state machine. */
martin@1597:         )
martin@1597: {
martin@1583:     ec_slave_t *slave = fsm->slave;
martin@1583:     ec_master_sdo_request_t *request, *next;
martin@1583: 
martin@1597:     // search the first external request to be processed
martin@1596:     list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
martin@1598: 
martin@1604:         list_del_init(&request->list); // dequeue
fp@1804:         if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@1921:             EC_SLAVE_WARN(slave, "Aborting SDO request,"
fp@1921:                     " slave has error flag set.\n");
fp@1804:             request->req.state = EC_INT_REQUEST_FAILURE;
fp@1804:             wake_up(&slave->sdo_queue);
fp@1804:             fsm->sdo_request = NULL;
fp@1804:             fsm->state = ec_fsm_slave_state_idle;
fp@1804:             return 0;
fp@1804:         }
fp@1804: 
fp@1804:         if (slave->current_state == EC_SLAVE_STATE_INIT) {
fp@1921:             EC_SLAVE_WARN(slave, "Aborting SDO request, slave is in INIT.\n");
fp@1804:             request->req.state = EC_INT_REQUEST_FAILURE;
fp@1804:             wake_up(&slave->sdo_queue);
fp@1804:             fsm->sdo_request = NULL;
fp@1804:             fsm->state = ec_fsm_slave_state_idle;
fp@1804:             return 0;
fp@1804:         }
fp@1804: 
fp@1804:         request->req.state = EC_INT_REQUEST_BUSY;
martin@1583: 
martin@1583:         // Found pending SDO request. Execute it!
fp@1921:         EC_SLAVE_DBG(slave, 1, "Processing SDO request...\n");
martin@1583: 
martin@1583:         // Start SDO transfer
martin@1583:         fsm->sdo_request = &request->req;
martin@1583:         fsm->state = ec_fsm_slave_state_sdo_request;
martin@1583:         ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
martin@1583:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
martin@1597:         return 1;
martin@1597:     }
martin@1597:     return 0;
martin@1597: }
martin@1597: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: /** Slave state: SDO_REQUEST.
martin@1583:  */
martin@1583: void ec_fsm_slave_state_sdo_request(
martin@1583:         ec_fsm_slave_t *fsm /**< Slave state machine. */
martin@1583:         )
martin@1583: {
martin@1583:     ec_slave_t *slave = fsm->slave;
martin@1583:     ec_sdo_request_t *request = fsm->sdo_request;
martin@1583: 
fp@2268:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) {
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
martin@1583:         return;
martin@1583:     }
martin@1583:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to process SDO request.\n");
martin@1583:         request->state = EC_INT_REQUEST_FAILURE;
fp@1804:         wake_up(&slave->sdo_queue);
fp@1804:         fsm->sdo_request = NULL;
fp@1804:         fsm->state = ec_fsm_slave_state_idle;
martin@1583:         return;
martin@1583:     }
martin@1583: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Finished SDO request.\n");
martin@1597: 
martin@1583:     // SDO request finished
martin@1583:     request->state = EC_INT_REQUEST_SUCCESS;
martin@1596:     wake_up(&slave->sdo_queue);
martin@1583: 
martin@1597:     fsm->sdo_request = NULL;
fp@1804:     fsm->state = ec_fsm_slave_state_ready;
fp@1804: }
martin@1597: 
martin@1597: /*****************************************************************************/
martin@1597: 
fp@1831: /** Check for pending FOE requests and process one.
fp@1831:  *
fp@1831:  * \return non-zero, if an FOE request is processed.
fp@1831:  */
fp@1831: int ec_fsm_slave_action_process_foe(
fp@1831:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@1831:     ec_master_foe_request_t *request, *next;
fp@1831: 
fp@1831:     // search the first request to be processed
fp@1831:     list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
fp@1831:         if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@1921:             EC_SLAVE_WARN(slave, "Aborting FOE request,"
fp@1921:                     " slave has error flag set.\n");
fp@1831:             request->req.state = EC_INT_REQUEST_FAILURE;
fp@1831:             wake_up(&slave->sdo_queue);
fp@1831:             fsm->sdo_request = NULL;
fp@1831:             fsm->state = ec_fsm_slave_state_idle;
fp@1831:             return 0;
fp@1831:         }
fp@1831:         list_del_init(&request->list); // dequeue
fp@1831:         request->req.state = EC_INT_REQUEST_BUSY;
fp@1831: 
fp@1921:         EC_SLAVE_DBG(slave, 1, "Processing FoE request.\n");
fp@1831: 
fp@1831:         fsm->foe_request = &request->req;
fp@1831:         fsm->state = ec_fsm_slave_state_foe_request;
fp@1831:         ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
fp@1831:         ec_fsm_foe_exec(&fsm->fsm_foe);
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
fp@1831:         return 1;
fp@1831:     }
fp@1831:     return 0;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
martin@1597: /** Slave state: FOE REQUEST.
martin@1597:  */
martin@1597: void ec_fsm_slave_state_foe_request(
martin@1597:         ec_fsm_slave_t *fsm /**< Slave state machine. */
martin@1597:         )
martin@1597: {
martin@1597:     ec_slave_t *slave = fsm->slave;
martin@1597:     ec_foe_request_t *request = fsm->foe_request;
martin@1597: 
fp@2268:     if (ec_fsm_foe_exec(&fsm->fsm_foe)) {
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
martin@1597:         return;
martin@1597:     }
martin@1597: 
martin@1597:     if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to handle FoE request.\n");
martin@1597:         request->state = EC_INT_REQUEST_FAILURE;
martin@1597:         wake_up(&slave->foe_queue);
martin@1597:         fsm->foe_request = NULL;
martin@1597:         fsm->state = ec_fsm_slave_state_idle;
martin@1597:         return;
martin@1597:     }
martin@1597: 
martin@1597:     // finished transferring FoE
fp@1930:     EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
fp@1921:             " data.\n", request->data_size);
martin@1597: 
martin@1597:     request->state = EC_INT_REQUEST_SUCCESS;
martin@1597:     wake_up(&slave->foe_queue);
martin@1597: 
martin@1597:     fsm->foe_request = NULL;
fp@1804:     fsm->state = ec_fsm_slave_state_ready;
fp@1804: }
fp@1804: 
fp@1804: /*****************************************************************************/
fp@1831: 
fp@1831: /** Check for pending SoE requests and process one.
fp@1831:  *
fp@1831:  * \return non-zero, if a request is processed.
fp@1831:  */
fp@1831: int ec_fsm_slave_action_process_soe(
fp@1831:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@1831:     ec_master_soe_request_t *req, *next;
fp@1831: 
fp@1831:     // search the first request to be processed
fp@1831:     list_for_each_entry_safe(req, next, &slave->soe_requests, list) {
fp@1831: 
fp@1831:         list_del_init(&req->list); // dequeue
fp@1831:         if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@1921:             EC_SLAVE_WARN(slave, "Aborting SoE request,"
fp@1921:                     " slave has error flag set.\n");
fp@1831:             req->req.state = EC_INT_REQUEST_FAILURE;
fp@1831:             wake_up(&slave->soe_queue);
fp@1831:             fsm->state = ec_fsm_slave_state_idle;
fp@1831:             return 0;
fp@1831:         }
fp@1831: 
fp@1831:         if (slave->current_state == EC_SLAVE_STATE_INIT) {
fp@1921:             EC_SLAVE_WARN(slave, "Aborting SoE request, slave is in INIT.\n");
fp@1831:             req->req.state = EC_INT_REQUEST_FAILURE;
fp@1831:             wake_up(&slave->soe_queue);
fp@1831:             fsm->state = ec_fsm_slave_state_idle;
fp@1831:             return 0;
fp@1831:         }
fp@1831: 
fp@1831:         req->req.state = EC_INT_REQUEST_BUSY;
fp@1831: 
fp@1831:         // Found pending request. Execute it!
fp@1921:         EC_SLAVE_DBG(slave, 1, "Processing SoE request...\n");
fp@1831: 
fp@1831:         // Start SoE transfer
fp@1831:         fsm->soe_request = &req->req;
fp@1831:         fsm->state = ec_fsm_slave_state_soe_request;
fp@1831:         ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);
fp@1831:         ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
fp@1831:         return 1;
fp@1831:     }
fp@1831:     return 0;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Slave state: SOE_REQUEST.
fp@1831:  */
fp@1831: void ec_fsm_slave_state_soe_request(
fp@1831:         ec_fsm_slave_t *fsm /**< Slave state machine. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_slave_t *slave = fsm->slave;
fp@1831:     ec_soe_request_t *request = fsm->soe_request;
fp@1831: 
fp@1831:     if (ec_fsm_soe_exec(&fsm->fsm_soe)) {
fp@2374:         ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);
fp@1831:         return;
fp@1831:     }
fp@1831: 
fp@1831:     if (!ec_fsm_soe_success(&fsm->fsm_soe)) {
fp@1921:         EC_SLAVE_ERR(slave, "Failed to process SoE request.\n");
fp@1831:         request->state = EC_INT_REQUEST_FAILURE;
fp@1831:         wake_up(&slave->soe_queue);
fp@1831:         fsm->soe_request = NULL;
fp@1831:         fsm->state = ec_fsm_slave_state_idle;
fp@1831:         return;
fp@1831:     }
fp@1831: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Finished SoE request.\n");
fp@1831: 
fp@1831:     // SoE request finished
fp@1831:     request->state = EC_INT_REQUEST_SUCCESS;
fp@1831:     wake_up(&slave->soe_queue);
fp@1831: 
fp@1831:     fsm->soe_request = NULL;
fp@1831:     fsm->state = ec_fsm_slave_state_ready;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/