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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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    34

/**

    35

   \file

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   EtherCAT state change FSM.

    37

*/

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    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

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#include "fsm_change.h"

    44

    45

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

    46

    47

void ec_fsm_change_state_start(ec_fsm_change_t *);

    48

void ec_fsm_change_state_check(ec_fsm_change_t *);

    49

void ec_fsm_change_state_status(ec_fsm_change_t *);

    50

void ec_fsm_change_state_code(ec_fsm_change_t *);

    51

void ec_fsm_change_state_start_ack(ec_fsm_change_t *);

    52

void ec_fsm_change_state_ack(ec_fsm_change_t *);

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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);

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void ec_fsm_change_state_end(ec_fsm_change_t *);

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void ec_fsm_change_state_error(ec_fsm_change_t *);

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    57

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

    58

    59

/**

    60

   Constructor.

    61

*/

    62

    63

void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */

    64

                        ec_datagram_t *datagram /**< datagram */

    65

                        )

    66

{

    67

    fsm->state = NULL;

    68

    fsm->datagram = datagram;

    69

}

    70

    71

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

    72

    73

/**

    74

   Destructor.

    75

*/

    76

    77

void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)

    78

{

    79

}

    80

    81

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

    82

    83

/**

    84

   Starts the change state machine.

    85

*/

    86

    87

void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */

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                         ec_slave_t *slave, /**< EtherCAT slave */

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                         ec_slave_state_t state /**< requested state */

    90

                         )

    91

{

    92

    fsm->mode = EC_FSM_CHANGE_MODE_FULL;

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    fsm->slave = slave;

    94

    fsm->requested_state = state;

    95

    fsm->state = ec_fsm_change_state_start;

    96

}

    97

    98

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

    99

   100

/**

   101

   Starts the change state machine to only acknowlegde a slave's state.

   102

*/

   103

   104

void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */

   105

                       ec_slave_t *slave /**< EtherCAT slave */

   106

                       )

   107

{

   108

    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;

   109

    fsm->slave = slave;

   110

    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;

   111

    fsm->state = ec_fsm_change_state_start_ack;

   112

}

   113

   114

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

   115

   116

/**

   117

   Executes the current state of the state machine.

   118

   \return false, if the state machine has terminated

   119

*/

   120

   121

int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)

   122

{

   123

    fsm->state(fsm);

   124

   125

    return fsm->state != ec_fsm_change_state_end

   126

        && fsm->state != ec_fsm_change_state_error;

   127

}

   128

   129

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

   130

   131

/**

   132

   Returns, if the state machine terminated with success.

   133

   \return non-zero if successful.

   134

*/

   135

   136

int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)

   137

{

   138

    return fsm->state == ec_fsm_change_state_end;

   139

}

   140

   141

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

   142

 *  state change state machine

   143

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

   144

   145

/**

   146

   Change state: START.

   147

*/

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   149

void ec_fsm_change_state_start(ec_fsm_change_t *fsm

   150

                               /**< finite state machine */)

   151

{

   152

    ec_datagram_t *datagram = fsm->datagram;

   153

    ec_slave_t *slave = fsm->slave;

   154

   155

    fsm->take_time = 1;

   156

    fsm->old_state = fsm->slave->current_state;

   157

   158

    // write new state to slave

   159

    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

   160

    EC_WRITE_U16(datagram->data, fsm->requested_state);

   161

    fsm->retries = EC_FSM_RETRIES;

   162

    fsm->state = ec_fsm_change_state_check;

   163

}

   164

   165

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

   166

   167

/**

   168

   Change state: CHECK.

   169

*/

   170

   171

void ec_fsm_change_state_check(ec_fsm_change_t *fsm

   172

                               /**< finite state machine */)

   173

{

   174

    ec_datagram_t *datagram = fsm->datagram;

   175

    ec_slave_t *slave = fsm->slave;

   176

   177

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

   178

        return;

   179

   180

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   181

        fsm->state = ec_fsm_change_state_error;

   182

        EC_ERR("Failed to receive state datagram from slave %i"

   183

                " (datagram state %i)!\n",

   184

               fsm->slave->ring_position, datagram->state);

   185

        return;

   186

    }

   187

   188

    if (fsm->take_time) {

   189

        fsm->take_time = 0;

   190

        fsm->jiffies_start = datagram->jiffies_sent;

   191

    }

   192

   194

        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {

   195

            char state_str[EC_STATE_STRING_SIZE];

   196

            ec_state_string(fsm->requested_state, state_str);

   197

            fsm->state = ec_fsm_change_state_error;

   201

            return;

   202

        }

   203

   204

        // repeat writing new state to slave

   205

        ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

   206

        EC_WRITE_U16(datagram->data, fsm->requested_state);

   207

        fsm->retries = EC_FSM_RETRIES;

   208

        return;

   209

    }

   210

   221

    fsm->take_time = 1;

   222

   223

    // read AL status from slave

   224

    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);

   225

    fsm->retries = EC_FSM_RETRIES;

   226

    fsm->state = ec_fsm_change_state_status;

   227

}

   228

   229

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

   230

   231

/**

   232

   Change state: STATUS.

   233

*/

   234

   235

void ec_fsm_change_state_status(ec_fsm_change_t *fsm

   236

                                /**< finite state machine */)

   237

{

   238

    ec_datagram_t *datagram = fsm->datagram;

   239

    ec_slave_t *slave = fsm->slave;

   240

   241

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

   242

        return;

   243

   244

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   245

        fsm->state = ec_fsm_change_state_error;

   246

        EC_ERR("Failed to receive state checking datagram from slave %i"

   247

                " (datagram state %i).\n",

   248

               slave->ring_position, datagram->state);

   249

        return;

   250

    }

   251

   252

    if (datagram->working_counter != 1) {

   253

        char req_state[EC_STATE_STRING_SIZE];

   254

        ec_state_string(fsm->requested_state, req_state);

   255

        fsm->state = ec_fsm_change_state_error;

   257

               req_state, slave->ring_position);

   259

        return;

   260

    }

   261

   262

    if (fsm->take_time) {

   263

        fsm->take_time = 0;

   264

        fsm->jiffies_start = datagram->jiffies_sent;

   265

    }

   266

   267

    slave->current_state = EC_READ_U8(datagram->data);

   268

   269

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

   270

        // state has been set successfully

   271

        fsm->state = ec_fsm_change_state_end;

   272

        return;

   273

    }

   274

   275

    if (slave->current_state != fsm->old_state) { // state changed

   276

        char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];

   277

   278

        ec_state_string(slave->current_state, cur_state);

   279

   280

        if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {

   281

            // Slave spontaneously changed its state just before the new state

   282

            // was written. Accept current state as old state and wait for

   283

            // state change

   284

            fsm->old_state = slave->current_state;

   285

            EC_WARN("Slave %i changed to %s in the meantime.\n",

   286

                    slave->ring_position, cur_state);

   287

            goto again;

   288

        }

   289

   290

        // state change error

   291

   292

        slave->error_flag = 1;

   293

        ec_state_string(fsm->requested_state, req_state);

   294

   295

        EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",

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               req_state, slave->ring_position, cur_state);

   297

        // fetch AL status error code

   298

        ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);

   299

        fsm->retries = EC_FSM_RETRIES;

   300

        fsm->state = ec_fsm_change_state_code;

   301

        return;

   302

    }

   303

   304

    // still old state

   305

   306

    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s

   307

        // timeout while checking

   308

        char state_str[EC_STATE_STRING_SIZE];

   309

        ec_state_string(fsm->requested_state, state_str);

   310

        fsm->state = ec_fsm_change_state_error;

   311

        EC_ERR("Timeout while setting state %s on slave %i.\n",

   312

               state_str, slave->ring_position);

   313

        return;

   314

    }

   315

   316

 again:

   317

    // no timeout yet. check again

   318

    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);

   319

    fsm->retries = EC_FSM_RETRIES;

   320

}

   321

   322

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

   323

   324

/**

   325

   Application layer status messages.

   326

*/

   327

   328

const ec_code_msg_t al_status_messages[] = {

   329

    {0x0001, "Unspecified error"},

   330

    {0x0011, "Invalud requested state change"},

   331

    {0x0012, "Unknown requested state"},

   332

    {0x0013, "Bootstrap not supported"},

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    {0x0014, "No valid firmware"},

   334

    {0x0015, "Invalid mailbox configuration"},

   335

    {0x0016, "Invalid mailbox configuration"},

   336

    {0x0017, "Invalid sync manager configuration"},

   337

    {0x0018, "No valid inputs available"},

   338

    {0x0019, "No valid outputs"},

   339

    {0x001A, "Synchronisation error"},

   340

    {0x001B, "Sync manager watchdog"},

   341

    {0x001C, "Invalid sync manager types"},

   342

    {0x001D, "Invalid output configuration"},

   343

    {0x001E, "Invalid input configuration"},

   344

    {0x001F, "Invalid watchdog configuration"},

   345

    {0x0020, "Slave needs cold start"},

   346

    {0x0021, "Slave needs INIT"},

   347

    {0x0022, "Slave needs PREOP"},

   348

    {0x0023, "Slave needs SAVEOP"},

   349

    {0x0030, "Invalid DC SYNCH configuration"},

   350

    {0x0031, "Invalid DC latch configuration"},

   351

    {0x0032, "PLL error"},

   352

    {0x0033, "Invalid DC IO error"},

   353

    {0x0034, "Invalid DC timeout error"},

   354

    {0x0042, "MBOX EOE"},

   355

    {0x0043, "MBOX COE"},

   356

    {0x0044, "MBOX FOE"},

   357

    {0x0045, "MBOX SOE"},

   358

    {0x004F, "MBOX VOE"},

   359

    {}

   360

};

   361

   362

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

   363

   364

/**

   365

   Change state: CODE.

   366

*/

   367

   368

void ec_fsm_change_state_code(ec_fsm_change_t *fsm

   369

                              /**< finite state machine */)

   370

{

   371

    ec_datagram_t *datagram = fsm->datagram;

   372

    uint32_t code;

   373

    const ec_code_msg_t *al_msg;

   374

   375

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

   376

        return;

   377

   378

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   379

        fsm->state = ec_fsm_change_state_error;

   380

        EC_ERR("Failed to receive AL status code datagram from slave %i"

   381

                " (datagram state %i).\n",

   382

               fsm->slave->ring_position, datagram->state);

   383

        return;

   384

    }

   385

   386

    if (datagram->working_counter != 1) {

   389

    }

   390

    else {

   391

        if ((code = EC_READ_U16(datagram->data))) {

   392

            for (al_msg = al_status_messages; al_msg->code; al_msg++) {

   393

                if (al_msg->code != code) continue;

   394

                EC_ERR("AL status message 0x%04X: \"%s\".\n",

   395

                       al_msg->code, al_msg->message);

   396

                break;

   397

            }

   398

            if (!al_msg->code)

   399

                EC_ERR("Unknown AL status code 0x%04X.\n", code);

   400

        }

   401

    }

   402

   403

    // acknowledge "old" slave state

   404

    ec_fsm_change_state_start_ack(fsm); // execute immediately

   405

}

   406

   407

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

   408

   409

/**

   410

   Change state: START ACK.

   411

*/

   412

   413

void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm

   414

                                   /**< finite state machine */)

   415

{

   416

    ec_slave_t *slave = fsm->slave;

   417

    ec_datagram_t *datagram = fsm->datagram;

   418

   419

    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

   420

    EC_WRITE_U16(datagram->data, slave->current_state);

   421

    fsm->retries = EC_FSM_RETRIES;

   422

    fsm->state = ec_fsm_change_state_ack;

   423

}

   424

   425

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

   426

   427

/**

   428

   Change state: ACK.

   429

*/

   430

   431

void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)

   432

{

   433

    ec_datagram_t *datagram = fsm->datagram;

   434

    ec_slave_t *slave = fsm->slave;

   435

   436

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

   437

        return;

   438

   439

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   440

        fsm->state = ec_fsm_change_state_error;

   441

        EC_ERR("Failed to receive state ack datagram for slave %i"

   442

                " (datagram state %i).\n",

   443

               slave->ring_position, datagram->state);

   444

        return;

   445

    }

   446

   447

    if (datagram->working_counter != 1) {

   448

        fsm->state = ec_fsm_change_state_error;

   452

        return;

   453

    }

   454

   455

    fsm->take_time = 1;

   456

   457

    // read new AL status

   458

    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);

   459

    fsm->retries = EC_FSM_RETRIES;

   460

    fsm->state = ec_fsm_change_state_check_ack;

   461

}

   462

   463

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

   464

   465

/**

   466

   Change state: CHECK ACK.

   467

*/

   468

   469

void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm

   470

                                   /**< finite state machine */)

   471

{

   472

    ec_datagram_t *datagram = fsm->datagram;

   473

    ec_slave_t *slave = fsm->slave;

   474

   475

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

   476

        return;

   477

   478

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   479

        fsm->state = ec_fsm_change_state_error;

   480

        EC_ERR("Failed to receive state ack check datagram from slave %i"

   481

                " (datagram state %i).\n",

   482

               slave->ring_position, datagram->state);

   483

        return;

   484

    }

   485

   486

    if (datagram->working_counter != 1) {

   487

        fsm->state = ec_fsm_change_state_error;

   491

        return;

   492

    }

   493

   494

    if (fsm->take_time) {

   495

        fsm->take_time = 0;

   496

        fsm->jiffies_start = datagram->jiffies_sent;

   497

    }

   498

   499

    slave->current_state = EC_READ_U8(datagram->data);

   500

   501

    if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {

   502

        char state_str[EC_STATE_STRING_SIZE];

   503

        ec_state_string(slave->current_state, state_str);

   504

        if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {

   505

            fsm->state = ec_fsm_change_state_error;

   506

        }

   507

        else { // EC_FSM_CHANGE_MODE_ACK_ONLY

   508

            fsm->state = ec_fsm_change_state_end;

   509

        }

   510

        EC_INFO("Acknowledged state %s on slave %i.\n",

   511

                state_str, slave->ring_position);

   512

        return;

   513

    }

   514

   515

    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s

   516

        // timeout while checking

   517

        char state_str[EC_STATE_STRING_SIZE];

   518

        ec_state_string(slave->current_state, state_str);

   519

        fsm->state = ec_fsm_change_state_error;

   520

        EC_ERR("Timeout while acknowledging state %s on slave %i.\n",