1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

    38

#include "mailbox.h"

    39

#include "slave_config.h"

    40

#ifdef EC_EOE

    41

#include "ethernet.h"

    42

#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

/** Time difference [ns] to tolerate without setting a new system time offset.

    50

 */

    51

#ifdef EC_HAVE_CYCLES

    52

#define EC_SYSTEM_TIME_TOLERANCE_NS 10000

    53

#else

    54

#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000

    55

#endif

    56

    57

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

    58

    59

void ec_fsm_master_state_start(ec_fsm_master_t *);

    60

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    61

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    62

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    63

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    64

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    65

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    66

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    67

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    68

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    69

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    70

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    71

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    72

void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

    73

    74

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    75

    76

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

    77

    78

/** Constructor.

    79

 */

    80

void ec_fsm_master_init(

    81

        ec_fsm_master_t *fsm, /**< Master state machine. */

    82

        ec_master_t *master, /**< EtherCAT master. */

    83

        ec_datagram_t *datagram /**< Datagram object to use. */

    84

        )

    85

{

    86

    fsm->master = master;

    87

    fsm->datagram = datagram;

    88

    fsm->mbox = &master->fsm_mbox;

    89

    fsm->state = ec_fsm_master_state_start;

    90

    fsm->idle = 0;

    91

    fsm->link_state = 0;

    92

    fsm->slaves_responding = 0;

    93

    fsm->rescan_required = 0;

    94

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    95

    96

    // init sub-state-machines

    97

    ec_fsm_coe_init(&fsm->fsm_coe, fsm->mbox);

    98

    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);

    99

    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);

   100

    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,

   101

            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);

   102

    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,

   103

            &fsm->fsm_slave_config, &fsm->fsm_pdo);

   104

    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);

   105

}

   106

   107

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

   108

   109

/** Destructor.

   110

 */

   111

void ec_fsm_master_clear(

   112

        ec_fsm_master_t *fsm /**< Master state machine. */

   113

        )

   114

{

   115

    // clear sub-state machines

   116

    ec_fsm_coe_clear(&fsm->fsm_coe);

   117

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   118

    ec_fsm_change_clear(&fsm->fsm_change);

   119

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   120

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   121

    ec_fsm_sii_clear(&fsm->fsm_sii);

   122

}

   123

   124

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

   125

   126

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

   127

 *

   128

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

   129

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

   130

 *

   131

 * \return true, if the state machine was executed

   132

 */

   133

int ec_fsm_master_exec(

   134

        ec_fsm_master_t *fsm /**< Master state machine. */

   135

        )

   136

{

   137

    if (ec_mbox_is_datagram_state(fsm->mbox, EC_DATAGRAM_QUEUED)

   138

        || ec_mbox_is_datagram_state(fsm->mbox, EC_DATAGRAM_SENT)) {

   139

        // datagram was not sent or received yet.

   140

        return 0;

   141

    }

   142

   143

    fsm->state(fsm);

   144

    return 1;

   145

}

   146

   147

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

   148

   149

/**

   150

 * \return true, if the state machine is in an idle phase

   151

 */

   152

int ec_fsm_master_idle(

   153

        const ec_fsm_master_t *fsm /**< Master state machine. */

   154

        )

   155

{

   156

    return fsm->idle;

   157

}

   158

   159

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

   160

   161

/** Restarts the master state machine.

   162

 */

   163

void ec_fsm_master_restart(

   164

        ec_fsm_master_t *fsm /**< Master state machine. */

   165

        )

   166

{

   167

    fsm->state = ec_fsm_master_state_start;

   168

    fsm->state(fsm); // execute immediately

   169

}

   170

   171

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

   172

 * Master state machine

   173

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

   174

   175

/** Master state: START.

   176

 *

   177

 * Starts with getting slave count and slave states.

   178

 */

   179

void ec_fsm_master_state_start(

   180

        ec_fsm_master_t *fsm /**< Master state machine. */

   181

        )

   182

{

   183

    fsm->idle = 1;

   184

    ec_datagram_brd(fsm->datagram, 0x0130, 2);

   185

    ec_datagram_zero(fsm->datagram);

   186

    fsm->state = ec_fsm_master_state_broadcast;

   187

}

   188

   189

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

   190

   191

/** Master state: BROADCAST.

   192

 *

   193

 * Processes the broadcast read slave count and slaves states.

   194

 */

   195

void ec_fsm_master_state_broadcast(

   196

        ec_fsm_master_t *fsm /**< Master state machine. */

   197

        )

   198

{

   199

    ec_datagram_t *datagram = fsm->datagram;

   200

    unsigned int i, size;

   201

    ec_slave_t *slave;

   202

    ec_master_t *master = fsm->master;

   203

   204

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

   205

        return; // always retry

   206

   207

    // bus topology change?

   208

    if (datagram->working_counter != fsm->slaves_responding) {

   209

        fsm->rescan_required = 1;

   210

        fsm->slaves_responding = datagram->working_counter;

   211

        EC_MASTER_INFO(master, "%u slave(s) responding.\n",

   212

                fsm->slaves_responding);

   213

    }

   214

   215

    if (fsm->link_state && !master->main_device.link_state) { // link went down

   216

        EC_MASTER_DBG(master, 1, "Master state machine detected "

   217

                "link down. Clearing slave list.\n");

   218

   219

        ec_master_clear_slaves(master);

   220

        fsm->slave_states = 0x00;

   221

    }

   222

    fsm->link_state = master->main_device.link_state;

   223

   224

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   225

        ec_fsm_master_restart(fsm);

   226

        return;

   227

    }

   228

   229

    if (fsm->slaves_responding) {

   230

        uint8_t states = EC_READ_U8(datagram->data);

   231

        if (states != fsm->slave_states) { // slave states changed?

   232

            char state_str[EC_STATE_STRING_SIZE];

   233

            fsm->slave_states = states;

   234

            ec_state_string(fsm->slave_states, state_str, 1);

   235

            EC_MASTER_INFO(master, "Slave states: %s.\n", state_str);

   236

        }

   237

    } else {

   238

        fsm->slave_states = 0x00;

   239

    }

   240

   241

    if (fsm->rescan_required) {

   242

        ec_mutex_lock(&master->scan_mutex);

   243

        if (!master->allow_scan) {

   244

            ec_mutex_unlock(&master->scan_mutex);

   245

        } else {

   246

            master->scan_busy = 1;

   247

            ec_mutex_unlock(&master->scan_mutex);

   248

   249

            // clear all slaves and scan the bus

   250

            fsm->rescan_required = 0;

   251

            fsm->idle = 0;

   252

            fsm->scan_jiffies = jiffies;

   253

   254

#ifdef EC_EOE

   255

            ec_master_clear_eoe_handlers(master);

   256

#endif

   257

            ec_master_clear_slaves(master);

   258

   259

            master->slave_count = fsm->slaves_responding;

   260

   261

            if (!master->slave_count) {

   262

                // no slaves present -> finish state machine.

   263

                master->scan_busy = 0;

   264

                wake_up_interruptible(&master->scan_queue);

   265

                ec_fsm_master_restart(fsm);

   266

                return;

   267

            }

   268

   269

            size = sizeof(ec_slave_t) * master->slave_count;

   270

            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   271

                EC_MASTER_ERR(master, "Failed to allocate %u bytes"

   272

                        " of slave memory!\n", size);

   273

                master->slave_count = 0; // TODO avoid retrying scan!

   274

                master->scan_busy = 0;

   275

                wake_up_interruptible(&master->scan_queue);

   276

                ec_fsm_master_restart(fsm);

   277

                return;

   278

            }

   279

   280

            // init slaves

   281

            for (i = 0; i < master->slave_count; i++) {

   282

                slave = master->slaves + i;

   283

                ec_slave_init(slave, master, i, i + 1);

   284

   285

                // do not force reconfiguration in operation phase to avoid

   286

                // unnecesssary process data interruptions

   287

                if (master->phase != EC_OPERATION)

   288

                    slave->force_config = 1;

   289

            }

   290

   291

            // broadcast clear all station addresses

   292

            ec_datagram_bwr(datagram, 0x0010, 2);

   293

            EC_WRITE_U16(datagram->data, 0x0000);

   294

            fsm->retries = EC_FSM_RETRIES;

   295

            fsm->state = ec_fsm_master_state_clear_addresses;

   296

            return;

   297

        }

   298

    }

   299

   300

    if (master->slave_count) {

   301

   302

        // application applied configurations

   303

        if (master->config_changed) {

   304

            master->config_changed = 0;

   305

   306

            EC_MASTER_DBG(master, 1, "Configuration changed.\n");

   307

   308

            fsm->slave = master->slaves; // begin with first slave

   309

            ec_fsm_master_enter_write_system_times(fsm);

   310

   311

        } else {

   312

            // fetch state from first slave

   313

            fsm->slave = master->slaves;

   314

            ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,

   315

                    0x0130, 2);

   316

            ec_datagram_zero(datagram);

   317

            fsm->retries = EC_FSM_RETRIES;

   318

            fsm->state = ec_fsm_master_state_read_state;

   319

        }

   320

    } else {

   321

        ec_fsm_master_restart(fsm);

   322

    }

   323

}

   324

   325

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

   326

   327

/** Check for pending SII write requests and process one.

   328

 *

   329

 * \return non-zero, if an SII write request is processed.

   330

 */

   331

int ec_fsm_master_action_process_sii(

   332

        ec_fsm_master_t *fsm /**< Master state machine. */

   333

        )

   334

{

   335

    ec_master_t *master = fsm->master;

   336

    ec_sii_write_request_t *request;

   337

   338

    // search the first request to be processed

   339

    while (1) {

   340

        if (list_empty(&master->sii_requests))

   341

            break;

   342

   343

        // get first request

   344

        request = list_entry(master->sii_requests.next,

   345

                ec_sii_write_request_t, list);

   346

        list_del_init(&request->list); // dequeue

   347

        request->state = EC_INT_REQUEST_BUSY;

   348

   349

        // found pending SII write operation. execute it!

   350

        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");

   351

        fsm->sii_request = request;

   352

        fsm->sii_index = 0;

   353

        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,

   354

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   355

        fsm->state = ec_fsm_master_state_write_sii;

   356

        fsm->state(fsm); // execute immediately

   357

        return 1;

   358

    }

   359

   360

    return 0;

   361

}

   362

   363

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

   364

   365

/** Check for pending register requests and process one.

   366

 *

   367

 * \return non-zero, if a register request is processed.

   368

 */

   369

int ec_fsm_master_action_process_register(

   370

        ec_fsm_master_t *fsm /**< Master state machine. */

   371

        )

   372

{

   373

    ec_master_t *master = fsm->master;

   374

    ec_reg_request_t *request;

   375

   376

    // search the first request to be processed

   377

    while (!list_empty(&master->reg_requests)) {

   378

   379

        // get first request

   380

        request = list_entry(master->reg_requests.next,

   381

                ec_reg_request_t, list);

   382

        list_del_init(&request->list); // dequeue

   383

        request->state = EC_INT_REQUEST_BUSY;

   384

   385

        // found pending request; process it!

   386

        EC_SLAVE_DBG(request->slave, 1, "Processing register request, "

   387

                "offset 0x%04x, length %zu...\n",

   388

                request->offset, request->length);

   389

   390

        if (request->length > fsm->datagram->mem_size) {

   391

            EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum "

   392

                    "datagram size (%zu)!\n", request->length,

   393

                    fsm->datagram->mem_size);

   394

            request->state = EC_INT_REQUEST_FAILURE;

   395

            kref_put(&request->refcount, ec_master_reg_request_release);

   396

            wake_up(&master->reg_queue);

   397

            continue;

   398

        }

   399

   400

        fsm->reg_request = request;

   401

   402

        if (request->dir == EC_DIR_INPUT) {

   403

            ec_datagram_fprd(fsm->datagram, request->slave->station_address,

   404

                    request->offset, request->length);

   405

            ec_datagram_zero(fsm->datagram);

   406

        } else {

   407

            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,

   408

                    request->offset, request->length);

   409

            memcpy(fsm->datagram->data, request->data, request->length);

   410

        }

   411

        fsm->retries = EC_FSM_RETRIES;

   412

        fsm->state = ec_fsm_master_state_reg_request;

   413

        return 1;

   414

    }

   415

   416

    return 0;

   417

}

   418

   419

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

   420

   421

/** Check for pending SDO requests and process one.

   422

 *

   423

 * \return non-zero, if an SDO request is processed.

   424

 */

   425

int ec_fsm_master_action_process_sdo(

   426

        ec_fsm_master_t *fsm /**< Master state machine. */

   427

        )

   428

{

   429

    ec_master_t *master = fsm->master;

   430

    ec_slave_t *slave;

   431

    ec_sdo_request_t *req;

   432

   433

    // search for internal requests to be processed

   434

    for (slave = master->slaves;

   435

            slave < master->slaves + master->slave_count;

   436

            slave++) {

   437

        if (!slave->config)

   438

            continue;

   439

        list_for_each_entry(req, &slave->config->sdo_requests, list) {

   440

            if (req->state == EC_INT_REQUEST_QUEUED) {

   441

   442

                if (ec_sdo_request_timed_out(req)) {

   443

                    req->state = EC_INT_REQUEST_FAILURE;

   444

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   445

                            " timed out.\n");

   446

                    continue;

   447

                }

   448

   449

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   450

                    req->state = EC_INT_REQUEST_FAILURE;

   451

                    continue;

   452

                }

   453

   454

                req->state = EC_INT_REQUEST_BUSY;

   455

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   456

                        " SDO request...\n");

   457

                fsm->idle = 0;

   458

                fsm->sdo_request = req;

   459

                fsm->slave = slave;

   460

                fsm->state = ec_fsm_master_state_sdo_request;

   461

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

   462

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

   463

                return 1;

   464

            }

   465

        }

   466

    }

   467

    return 0;

   468

}

   469

   470

   471

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

   472

   473

/** Master action: IDLE.

   474

 *

   475

 * Does secondary work.

   476

 */

   477

void ec_fsm_master_action_idle(

   478

        ec_fsm_master_t *fsm /**< Master state machine. */

   479

        )

   480

{

   481

    ec_master_t *master = fsm->master;

   482

    ec_slave_t *slave;

   483

   484