/****************************************************************************** * * $Id$ * * Copyright (C) 2006-2008 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 "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 *); int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *); void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *); void ec_fsm_slave_state_foe_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; if (slave->master->debug_level) EC_DBG("init fsm for slave %u...\n",slave->ring_position); 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); } /*****************************************************************************/ /** 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); } /*****************************************************************************/ /** 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); return; } /*****************************************************************************/ /** 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) { if (fsm->slave->master->debug_level) { EC_DBG("Slave %u ready for SDO/FOE.\n",fsm->slave->ring_position); } fsm->state = ec_fsm_slave_state_ready; } return; } /****************************************************************************** * 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 FOE requests if (ec_fsm_slave_action_process_foe(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_master_t *master = slave->master; ec_master_sdo_request_t *request, *next; // search the first external request to be processed list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) { list_del_init(&request->list); // dequeue if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { EC_WARN("Aborting SDO request, slave %u has ERROR.\n", slave->ring_position); request->req.state = EC_INT_REQUEST_FAILURE; wake_up(&slave->sdo_queue); fsm->sdo_request = NULL; fsm->state = ec_fsm_slave_state_idle; return 0; } if (slave->current_state == EC_SLAVE_STATE_INIT) { EC_WARN("Aborting SDO request, slave %u is in INIT.\n", slave->ring_position); request->req.state = EC_INT_REQUEST_FAILURE; wake_up(&slave->sdo_queue); fsm->sdo_request = NULL; fsm->state = ec_fsm_slave_state_idle; return 0; } request->req.state = EC_INT_REQUEST_BUSY; // Found pending SDO request. Execute it! if (master->debug_level) EC_DBG("Processing SDO request for slave %u...\n", slave->ring_position); // Start SDO transfer fsm->sdo_request = &request->req; fsm->state = ec_fsm_slave_state_sdo_request; ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req); ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); return 1; } return 0; } /*****************************************************************************/ /** 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_master_t *master = slave->master; ec_master_foe_request_t *request, *next; // search the first request to be processed list_for_each_entry_safe(request, next, &slave->foe_requests, list) { if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) { EC_WARN("Aborting FOE request, slave %u has ERROR.\n", slave->ring_position); request->req.state = EC_INT_REQUEST_FAILURE; wake_up(&slave->sdo_queue); fsm->sdo_request = NULL; fsm->state = ec_fsm_slave_state_idle; return 0; } list_del_init(&request->list); // dequeue request->req.state = EC_INT_REQUEST_BUSY; if (master->debug_level) EC_DBG("Processing FOE request for slave %u.\n", slave->ring_position); fsm->foe_request = &request->req; fsm->state = ec_fsm_slave_state_foe_request; ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req); ec_fsm_foe_exec(&fsm->fsm_foe); ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram); return 1; } return 0; } /*****************************************************************************/ /** 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_master_t *master = slave->master; 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_DBG("Failed to process SDO request for slave %u.\n", fsm->slave->ring_position); request->state = EC_INT_REQUEST_FAILURE; wake_up(&slave->sdo_queue); fsm->sdo_request = NULL; fsm->state = ec_fsm_slave_state_idle; return; } if (master->debug_level) EC_DBG("Finished SDO request for slave %u.\n", fsm->slave->ring_position); // SDO request finished request->state = EC_INT_REQUEST_SUCCESS; wake_up(&slave->sdo_queue); fsm->sdo_request = NULL; fsm->state = ec_fsm_slave_state_ready; } /*****************************************************************************/ /** 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_master_t *master = slave->master; 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_ERR("Failed to handle FoE request to slave %u.\n", slave->ring_position); request->state = EC_INT_REQUEST_FAILURE; wake_up(&slave->foe_queue); fsm->foe_request = NULL; fsm->state = ec_fsm_slave_state_idle; return; } // finished transferring FoE if (master->debug_level) EC_DBG("Successfully transferred %u bytes of FoE data from/to" " slave %u.\n", request->data_size, slave->ring_position); request->state = EC_INT_REQUEST_SUCCESS; wake_up(&slave->foe_queue); fsm->foe_request = NULL; fsm->state = ec_fsm_slave_state_ready; }