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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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    27

/** \file

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 *

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 * EtherCAT slave configuration state machine.

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 */

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

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    34

#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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#include "fsm_slave_config.h"

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

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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);

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

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    70

/** Constructor.

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 */

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void ec_fsm_slave_config_init(

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        ec_fsm_slave_config_t *fsm, /**< slave state machine */

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        ec_datagram_t *datagram, /**< datagram structure to use */

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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */

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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */

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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */

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        )

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{

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    ec_sdo_request_init(&fsm->request_copy);

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    fsm->datagram = datagram;

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    fsm->fsm_change = fsm_change;

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    fsm->fsm_coe = fsm_coe;

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    fsm->fsm_pdo = fsm_pdo;

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}

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

    89

    90

/** Destructor.

    91

 */

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void ec_fsm_slave_config_clear(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_sdo_request_clear(&fsm->request_copy);

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}

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

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/** Start slave configuration state machine.

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 */

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void ec_fsm_slave_config_start(

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        ec_fsm_slave_config_t *fsm, /**< slave state machine */

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        ec_slave_t *slave /**< slave to configure */

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        )

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{

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    fsm->slave = slave;

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    fsm->state = ec_fsm_slave_config_state_start;

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}

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

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   114

/**

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_slave_config_running(

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        const ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    return fsm->state != ec_fsm_slave_config_state_end

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        && fsm->state != ec_fsm_slave_config_state_error;

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}

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

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   127

/** Executes the current state of the state machine.

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 *

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 * If the state machine's datagram is not sent or received yet, the execution

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 * of the state machine is delayed to the next cycle.

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 *

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_slave_config_exec(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    if (fsm->datagram->state == EC_DATAGRAM_SENT

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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {

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        // datagram was not sent or received yet.

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        return ec_fsm_slave_config_running(fsm);

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    }

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    fsm->state(fsm);

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    return ec_fsm_slave_config_running(fsm);

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}

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

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/**

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 * \return true, if the state machine terminated gracefully

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 */

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int ec_fsm_slave_config_success(

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        const ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    return fsm->state == ec_fsm_slave_config_state_end;

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}

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

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 * Slave configuration state machine

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

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/** Slave configuration state: START.

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 */

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void ec_fsm_slave_config_state_start(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    if (fsm->slave->master->debug_level) {

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        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);

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    }

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    ec_fsm_slave_config_enter_init(fsm);

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}

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

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   179

/** Start state change to INIT.

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 */

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void ec_fsm_slave_config_enter_init(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

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    ec_fsm_change_exec(fsm->fsm_change);

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    fsm->state = ec_fsm_slave_config_state_init;

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}

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

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/** Slave configuration state: INIT.

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 */

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void ec_fsm_slave_config_state_init(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_master_t *master = fsm->slave->master;

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    ec_slave_t *slave = fsm->slave;

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    ec_datagram_t *datagram = fsm->datagram;

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    if (ec_fsm_change_exec(fsm->fsm_change)) return;

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   204

    if (!ec_fsm_change_success(fsm->fsm_change)) {

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        if (!fsm->fsm_change->spontaneous_change)

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            slave->error_flag = 1;

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        fsm->state = ec_fsm_slave_config_state_error;

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        return;

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    }

   210

   211

    if (master->debug_level) {

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        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);

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    }

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    if (!slave->base_fmmu_count) { // skip FMMU configuration

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        ec_fsm_slave_config_enter_mbox_sync(fsm);

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        return;

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    }

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    if (master->debug_level)

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        EC_DBG("Clearing FMMU configurations of slave %u...\n",

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               slave->ring_position);

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    // clear FMMU configurations

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    ec_datagram_fpwr(datagram, slave->station_address,

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            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

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    ec_datagram_zero(datagram);

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_slave_config_state_clear_fmmus;

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}

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

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/** Slave configuration state: CLEAR FMMU.

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 */

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void ec_fsm_slave_config_state_clear_fmmus(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_datagram_t *datagram = fsm->datagram;

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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

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        return;

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   245

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_slave_config_state_error;

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        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",

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               fsm->slave->ring_position);

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        return;

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    }

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   252

    if (datagram->working_counter != 1) {

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        fsm->slave->error_flag = 1;

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        fsm->state = ec_fsm_slave_config_state_error;

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        EC_ERR("Failed to clear FMMUs of slave %u: ",

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               fsm->slave->ring_position);

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        ec_datagram_print_wc_error(datagram);

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        return;

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    }

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    ec_fsm_slave_config_enter_mbox_sync(fsm);

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}

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

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/** Check for mailbox sync managers to be configured.

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 */

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void ec_fsm_slave_config_enter_mbox_sync(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_master_t *master = fsm->slave->master;

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    ec_slave_t *slave = fsm->slave;

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    ec_datagram_t *datagram = fsm->datagram;

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    unsigned int i;

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    // slave is now in INIT

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    if (slave->current_state == slave->requested_state) {

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        fsm->state = ec_fsm_slave_config_state_end; // successful

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        if (master->debug_level) {

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            EC_DBG("Finished configuration of slave %u.\n",

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                   slave->ring_position);

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        }

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        return;

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    }

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   287

    if (!slave->sii.mailbox_protocols) {

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        // no mailbox protocols supported

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        if (master->debug_level)

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            EC_DBG("Slave %u does not support mailbox communication.\n",

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                    slave->ring_position);

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        return;

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    }

   295

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    if (master->debug_level) {

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        EC_DBG("Configuring mailbox sync managers of slave %u.\n",

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               slave->ring_position);

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    }

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        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

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                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

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        ec_datagram_zero(datagram);

   327

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        for (i = 0; i < 2; i++) {

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            ec_sync_page(&slave->sii.syncs[i], i,

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                    slave->sii.syncs[i].default_length,

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                    EC_DIR_INVALID, // use default direction

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                    datagram->data + EC_SYNC_PAGE_SIZE * i);

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        }

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    } else { // no mailbox sync manager configurations provided

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        ec_sync_t sync;

   336

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        if (master->debug_level)

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            EC_DBG("Slave %u does not provide"

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                    " mailbox sync manager configurations.\n",

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                    slave->ring_position);

   341

   342

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   343

                EC_SYNC_PAGE_SIZE * 2);

   344

        ec_datagram_zero(datagram);

   345

   346

        ec_sync_init(&sync, slave);

   348

        sync.control_register = 0x26;

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        sync.enable = 1;

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                EC_DIR_INVALID, // use default direction

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                datagram->data);

   353

   354

        ec_sync_init(&sync, slave);

   356

        sync.control_register = 0x22;

   357

        sync.enable = 1;

   359

                EC_DIR_INVALID, // use default direction

   360

                datagram->data + EC_SYNC_PAGE_SIZE);

   361

    }

   362

   363

    fsm->retries = EC_FSM_RETRIES;

   364

    fsm->state = ec_fsm_slave_config_state_mbox_sync;

   365

}

   366

   367

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

   368

   369

/** Slave configuration state: SYNC.

   370

 */

   371

void ec_fsm_slave_config_state_mbox_sync(

   372

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   373

        )

   374

{

   375

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   377

   378

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

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        return;

   380

   381

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_slave_config_state_error;

   383

        EC_ERR("Failed to receive sync manager configuration datagram for"

   384

               " slave %u (datagram state %u).\n",

   385

               slave->ring_position, datagram->state);

   386

        return;

   387

    }

   388

   389

    if (datagram->working_counter != 1) {

   390

        slave->error_flag = 1;

   391

        fsm->state = ec_fsm_slave_config_state_error;

   392

        EC_ERR("Failed to set sync managers of slave %u: ",

   393

               slave->ring_position);

   394

        ec_datagram_print_wc_error(datagram);

   395

        return;

   396

    }

   397

   399

}

   400

   401

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

   402

   403

/** Request PREOP state.

   404

 */

   417

    ec_fsm_change_exec(fsm->fsm_change); // execute immediately

   418

}

   419

   420

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

   421

   425

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   426

        )

   427

{

   428

    ec_slave_t *slave = fsm->slave;

   429

    ec_master_t *master = fsm->slave->master;

   430

   431

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   432

   433

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   434

        if (!fsm->fsm_change->spontaneous_change)

   435

            slave->error_flag = 1;

   436

        fsm->state = ec_fsm_slave_config_state_error;

   437

        return;

   438

    }

   439

   441

    slave->jiffies_preop = fsm->datagram->jiffies_received;

   442

   443

    if (master->debug_level) {

   447

    }

   448

   449

    if (slave->current_state == slave->requested_state) {

   450

        fsm->state = ec_fsm_slave_config_state_end; // successful

   451

        if (master->debug_level) {

   452

            EC_DBG("Finished configuration of slave %u.\n",

   453

                   slave->ring_position);

   454

        }

   455

        return;

   456

    }

   457

   458

    if (!slave->config) {

   459

        EC_DBG("Slave %u is not configured.\n", slave->ring_position);

   460

        ec_fsm_slave_config_enter_safeop(fsm);

   461

        return;

   462

    }

   463

   464

    ec_fsm_slave_config_enter_sdo_conf(fsm);

   465

}

   466

   467

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

   468

   469

/** Check for SDO configurations to be applied.

   470

 */

   471

void ec_fsm_slave_config_enter_sdo_conf(

   472

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   473

        )

   474

{

   475

    ec_slave_t *slave = fsm->slave;

   476

   477

    // No CoE configuration to be applied?

   478

    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration

   479

        ec_fsm_slave_config_enter_pdo_conf(fsm);

   480

        return;

   481

    }

   482

   483

    // start SDO configuration

   484

    fsm->state = ec_fsm_slave_config_state_sdo_conf;

   485

    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,

   486

            ec_sdo_request_t, list);

   487

    ec_sdo_request_copy(&fsm->request_copy, fsm->request);

   488

    ecrt_sdo_request_write(&fsm->request_copy);

   489

    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);

   490

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

   491

}

   492

   493

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

   494

   495

/** Slave configuration state: SDO_CONF.

   496

 */

   497

void ec_fsm_slave_config_state_sdo_conf(

   498

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   499

        )

   500

{

   501

    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   502

   503

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

   504

        EC_ERR("SDO configuration failed for slave %u.\n",

   505

                fsm->slave->ring_position);

   506

        fsm->slave->error_flag = 1;