1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000

    52

    53

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

    54

    55

void ec_fsm_master_state_start(ec_fsm_master_t *);

    56

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    57

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    58

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    59

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    60

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    61

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    62

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    63

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    64

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    65

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    66

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    67

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    68

    69

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    70

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_master_init(

    77

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

    78

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

    79

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

    80

        )

    81

{

    82

    fsm->master = master;

    83

    fsm->datagram = datagram;

    84

    85

    ec_fsm_master_reset(fsm);

    86

    87

    // init sub-state-machines

    88

    ec_fsm_coe_init(&fsm->fsm_coe);

    89

    ec_fsm_soe_init(&fsm->fsm_soe);

    90

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

    91

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

    92

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

    93

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

    94

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

    95

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

    96

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

    97

}

    98

    99

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

   100

   101

/** Destructor.

   102

 */

   103

void ec_fsm_master_clear(

   104

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

   105

        )

   106

{

   107

    // clear sub-state machines

   108

    ec_fsm_coe_clear(&fsm->fsm_coe);

   109

    ec_fsm_soe_clear(&fsm->fsm_soe);

   110

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   111

    ec_fsm_change_clear(&fsm->fsm_change);

   112

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   113

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   114

    ec_fsm_sii_clear(&fsm->fsm_sii);

   115

}

   116

   117

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

   118

   119

/** Reset state machine.

   120

 */

   121

void ec_fsm_master_reset(

   122

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

   123

        )

   124

{

   125

    ec_device_index_t dev_idx;

   126

   127

    fsm->state = ec_fsm_master_state_start;

   128

    fsm->idle = 0;

   129

    fsm->dev_idx = EC_DEVICE_MAIN;

   130

   131

    for (dev_idx = EC_DEVICE_MAIN;

   132

            dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {

   133

        fsm->link_state[dev_idx] = 0;

   134

        fsm->slaves_responding[dev_idx] = 0;

   135

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

   136

    }

   137

   138

    fsm->rescan_required = 0;

   139

}

   140

   141

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

   142

   143

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

   144

 *

   145

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

   146

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

   147

 *

   148

 * \return true, if the state machine was executed

   149

 */

   150

int ec_fsm_master_exec(

   151

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

   152

        )

   153

{

   154

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

   155

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

   156

        // datagram was not sent or received yet.

   157

        return 0;

   158

    }

   159

   160

    fsm->state(fsm);

   161

    return 1;

   162

}

   163

   164

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

   165

   166

/**

   167

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

   168

 */

   169

int ec_fsm_master_idle(

   170

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

   171

        )

   172

{

   173

    return fsm->idle;

   174

}

   175

   176

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

   177

   178

/** Restarts the master state machine.

   179

 */

   180

void ec_fsm_master_restart(

   181

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

   182

        )

   183

{

   184

    fsm->dev_idx = EC_DEVICE_MAIN;

   185

    fsm->state = ec_fsm_master_state_start;

   186

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

   187

}

   188

   189

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

   190

 * Master state machine

   191

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

   192

   193

/** Master state: START.

   194

 *

   195

 * Starts with getting slave count and slave states.

   196

 */

   197

void ec_fsm_master_state_start(

   198

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

   199

        )

   200

{

   201

    ec_master_t *master = fsm->master;

   202

   203

    fsm->idle = 1;

   204

   205

    // check for emergency requests

   206

    if (!list_empty(&master->emerg_reg_requests)) {

   207

        ec_reg_request_t *request;

   208

   209

        // get first request

   210

        request = list_entry(master->emerg_reg_requests.next,

   211

                ec_reg_request_t, list);

   212

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

   213

        request->state = EC_INT_REQUEST_BUSY;

   214

   215

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

   216

            EC_MASTER_ERR(master, "Emergency request data too large!\n");

   217

            request->state = EC_INT_REQUEST_FAILURE;

   218

            wake_up_all(&master->request_queue);

   219

            fsm->state(fsm); // continue

   220

            return;

   221

        }

   222

   223

        if (request->dir != EC_DIR_OUTPUT) {

   224

            EC_MASTER_ERR(master, "Emergency requests must be"

   225

                    " write requests!\n");

   226

            request->state = EC_INT_REQUEST_FAILURE;

   227

            wake_up_all(&master->request_queue);

   228

            fsm->state(fsm); // continue

   229

            return;

   230

        }

   231

   232

        EC_MASTER_DBG(master, 1, "Writing emergency register request...\n");

   233

        ec_datagram_apwr(fsm->datagram, request->ring_position,

   234

                request->address, request->transfer_size);

   235

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

   236

        fsm->datagram->device_index = EC_DEVICE_MAIN;

   237

        request->state = EC_INT_REQUEST_SUCCESS;

   238

        wake_up_all(&master->request_queue);

   239

        return;

   240

    }

   241

   242

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

   243

    ec_datagram_zero(fsm->datagram);

   244

    fsm->datagram->device_index = fsm->dev_idx;

   245

    fsm->state = ec_fsm_master_state_broadcast;

   246

}

   247

   248

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

   249

   250

/** Master state: BROADCAST.

   251

 *

   252

 * Processes the broadcast read slave count and slaves states.

   253

 */

   254

void ec_fsm_master_state_broadcast(

   255

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

   256

        )

   257

{

   258

    ec_datagram_t *datagram = fsm->datagram;

   259

    unsigned int i, size;

   260

    ec_slave_t *slave;

   261

    ec_master_t *master = fsm->master;

   262

   263

    // bus topology change?

   264

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

   265

        fsm->rescan_required = 1;

   266

        fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;

   267

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

   268

                fsm->slaves_responding[fsm->dev_idx],

   269

                ec_device_names[fsm->dev_idx != 0]);

   270

    }

   271

   272

    if (fsm->link_state[fsm->dev_idx] &&

   273

            !master->devices[fsm->dev_idx].link_state) {

   274

        ec_device_index_t dev_idx;

   275

   276

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

   277

                "link down on %s device. Clearing slave list.\n",

   278

                ec_device_names[fsm->dev_idx != 0]);

   279

   280

#ifdef EC_EOE

   281

        ec_master_eoe_stop(master);

   282

        ec_master_clear_eoe_handlers(master);

   283

#endif

   284

        ec_master_clear_slaves(master);

   285

   286

        for (dev_idx = EC_DEVICE_MAIN;

   287

                dev_idx < ec_master_num_devices(master); dev_idx++) {

   288

            fsm->slave_states[dev_idx] = 0x00;

   289

            fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on

   290

                                                    next link up. */

   291

        }

   292

    }

   293

    fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;

   294

   295

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   296

            fsm->slaves_responding[fsm->dev_idx]) {

   297

        uint8_t states = EC_READ_U8(datagram->data);

   298

        if (states != fsm->slave_states[fsm->dev_idx]) {

   299

            // slave states changed

   300

            char state_str[EC_STATE_STRING_SIZE];

   301

            fsm->slave_states[fsm->dev_idx] = states;

   302

            ec_state_string(states, state_str, 1);

   303

            EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",

   304

                    ec_device_names[fsm->dev_idx != 0], state_str);

   305

        }

   306

    } else {

   307

        fsm->slave_states[fsm->dev_idx] = 0x00;

   308

    }

   309

   310

    fsm->dev_idx++;

   311

    if (fsm->dev_idx < ec_master_num_devices(master)) {

   312

        // check number of responding slaves on next device

   313

        fsm->state = ec_fsm_master_state_start;

   314

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

   315

        return;

   316

    }

   317

   318

    if (fsm->rescan_required) {

   319

        down(&master->scan_sem);

   320

        if (!master->allow_scan) {

   321

            up(&master->scan_sem);

   322

        } else {

   323

            unsigned int count = 0, next_dev_slave, ring_position;

   324

            ec_device_index_t dev_idx;

   325

   326

            master->scan_busy = 1;

   327

            up(&master->scan_sem);

   328

   329

            // clear all slaves and scan the bus

   330

            fsm->rescan_required = 0;

   331

            fsm->idle = 0;

   332

            fsm->scan_jiffies = jiffies;

   333

   334

#ifdef EC_EOE

   335

            ec_master_eoe_stop(master);

   336

            ec_master_clear_eoe_handlers(master);

   337

#endif

   338

            ec_master_clear_slaves(master);

   339

   340

            for (dev_idx = EC_DEVICE_MAIN;

   341

                    dev_idx < ec_master_num_devices(master); dev_idx++) {

   342

                count += fsm->slaves_responding[dev_idx];

   343

            }

   344

   345

            if (!count) {

   346

                // no slaves present -> finish state machine.

   347

                master->scan_busy = 0;

   348

                wake_up_interruptible(&master->scan_queue);

   349

                ec_fsm_master_restart(fsm);

   350

                return;

   351

            }

   352

   353

            size = sizeof(ec_slave_t) * count;

   354

            if (!(master->slaves =

   355

                        (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   356

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

   357

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

   358

                master->scan_busy = 0;

   359

                wake_up_interruptible(&master->scan_queue);

   360

                ec_fsm_master_restart(fsm);

   361

                return;

   362

            }

   363

   364

            // init slaves

   365

            dev_idx = EC_DEVICE_MAIN;

   366

            next_dev_slave = fsm->slaves_responding[dev_idx];

   367

            ring_position = 0;

   368

            for (i = 0; i < count; i++, ring_position++) {

   369

                slave = master->slaves + i;

   370

                while (i >= next_dev_slave) {

   371

                    dev_idx++;

   372

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   373

                    ring_position = 0;

   374

                }

   375

   376

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

   377

   378

                // do not force reconfiguration in operation phase to avoid

   379

                // unnecesssary process data interruptions

   380

                if (master->phase != EC_OPERATION) {

   381

                    slave->force_config = 1;

   382

                }

   383

            }

   384

            master->slave_count = count;

   385

            master->fsm_slave = master->slaves;

   386

   387

            /* start with first device with slaves responding; at least one

   388

             * has responding slaves, otherwise count would be zero. */

   389

            fsm->dev_idx = EC_DEVICE_MAIN;

   390

            while (!fsm->slaves_responding[fsm->dev_idx]) {

   391

                fsm->dev_idx++;

   392

            }

   393

   394

            ec_fsm_master_enter_clear_addresses(fsm);

   395

            return;

   396

        }

   397

    }

   398

   399

    if (master->slave_count) {

   400

   401

        // application applied configurations

   402

        if (master->config_changed) {

   403

            master->config_changed = 0;

   404

   405

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

   406

   407

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

   408

            ec_fsm_master_enter_write_system_times(fsm);

   409

   410

        } else {

   411

            // fetch state from first slave

   412

            fsm->slave = master->slaves;

   413

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

   414

                    0x0130, 2);

   415

            ec_datagram_zero(datagram);

   416

            fsm->datagram->device_index = fsm->slave->device_index;

   417

            fsm->retries = EC_FSM_RETRIES;

   418

            fsm->state = ec_fsm_master_state_read_state;

   419

        }

   420

    } else {

   421

        ec_fsm_master_restart(fsm);

   422

    }

   423

}

   424

   425

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

   426

   427

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

   428

 *

   429

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

   430

 */

   431

int ec_fsm_master_action_process_sii(

   432

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

   433

        )

   434

{

   435

    ec_master_t *master = fsm->master;

   436

    ec_sii_write_request_t *request;

   437

   438

    // search the first request to be processed

   439

    while (1) {

   440

        if (list_empty(&master->sii_requests))

   441

            break;

   442

   443

        // get first request

   444

        request = list_entry(master->sii_requests.next,

   445

                ec_sii_write_request_t, list);

   446

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

   447

        request->state = EC_INT_REQUEST_BUSY;

   448

   449

        // found pending SII write operation. execute it!

   450

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

   451

        fsm->sii_request = request;

   452

        fsm->sii_index = 0;

   453

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

   454

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   455

        fsm->state = ec_fsm_master_state_write_sii;

   456

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

   457

        return 1;

   458

    }

   459

   460

    return 0;

   461

}

   462

   463

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

   464

   465

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

   466

 *

   467

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

   468

 */

   469

int ec_fsm_master_action_process_sdo(

   470

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

   471

        )

   472

{

   473

    ec_master_t *master = fsm->master;

   474

    ec_slave_t *slave;

   475

    ec_sdo_request_t *req;

   476

   477

    // search for internal requests to be processed

   478

    for (slave = master->slaves;

   479

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

   480

            slave++) {

   481

   482

        if (!slave->config) {

   483

            continue;

   484

        }

   485

   486

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