1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT finite state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

    43

#include "master.h"

    44

    45

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

    46

    47

#define EC_CAT_MEM 0x100

    48

    49

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

    50

    51

const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_fsm_master_start(ec_fsm_t *);

    56

void ec_fsm_master_wait(ec_fsm_t *);

    57

void ec_fsm_master_scan(ec_fsm_t *);

    58

void ec_fsm_master_conf(ec_fsm_t *);

    59

    60

void ec_fsm_slave_start_reading(ec_fsm_t *);

    61

void ec_fsm_slave_read_base(ec_fsm_t *);

    62

void ec_fsm_slave_read_dl(ec_fsm_t *);

    63

void ec_fsm_slave_prepare_sii(ec_fsm_t *);

    64

void ec_fsm_slave_read_sii(ec_fsm_t *);

    65

void ec_fsm_slave_category_header(ec_fsm_t *);

    66

void ec_fsm_slave_category_data(ec_fsm_t *);

    67

void ec_fsm_slave_conf(ec_fsm_t *);

    68

void ec_fsm_slave_end(ec_fsm_t *);

    69

    70

void ec_fsm_slave_conf(ec_fsm_t *);

    71

void ec_fsm_slave_sync(ec_fsm_t *);

    72

void ec_fsm_slave_preop(ec_fsm_t *);

    73

void ec_fsm_slave_fmmu(ec_fsm_t *);

    74

void ec_fsm_slave_saveop(ec_fsm_t *);

    75

void ec_fsm_slave_op(ec_fsm_t *);

    76

void ec_fsm_slave_op2(ec_fsm_t *);

    77

    78

void ec_fsm_sii_start_reading(ec_fsm_t *);

    79

void ec_fsm_sii_check(ec_fsm_t *);

    80

void ec_fsm_sii_fetch(ec_fsm_t *);

    81

void ec_fsm_sii_finished(ec_fsm_t *);

    82

void ec_fsm_sii_error(ec_fsm_t *);

    83

    84

void ec_fsm_change_start(ec_fsm_t *);

    85

void ec_fsm_change_check(ec_fsm_t *);

    86

void ec_fsm_change_status(ec_fsm_t *);

    87

void ec_fsm_change_code(ec_fsm_t *);

    88

void ec_fsm_change_ack(ec_fsm_t *);

    89

void ec_fsm_change_ack2(ec_fsm_t *);

    90

void ec_fsm_change_end(ec_fsm_t *);

    91

void ec_fsm_change_error(ec_fsm_t *);

    92

    93

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

    94

    95

int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)

    96

{

    97

    fsm->master = master;

    98

    fsm->master_state = ec_fsm_master_start;

    99

    fsm->master_slaves_responding = 0;

   100

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   101

    fsm->slave_cat_data = NULL;

   102

   103

    ec_command_init(&fsm->command);

   104

    if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {

   105

        EC_ERR("FSM failed to allocate FSM command.\n");

   106

        return -1;

   107

    }

   108

   109

    return 0;

   110

}

   111

   112

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

   113

   114

void ec_fsm_clear(ec_fsm_t *fsm)

   115

{

   116

    if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);

   117

    ec_command_clear(&fsm->command);

   118

}

   119

   120

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

   121

   122

void ec_fsm_reset(ec_fsm_t *fsm)

   123

{

   124

    fsm->master_state = ec_fsm_master_start;

   125

    fsm->master_slaves_responding = 0;

   126

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   127

   128

    if (fsm->slave_cat_data) {

   129

        kfree(fsm->slave_cat_data);

   130

        fsm->slave_cat_data = NULL;

   131

    }

   132

}

   133

   134

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

   135

   136

void ec_fsm_execute(ec_fsm_t *fsm)

   137

{

   138

    fsm->master_state(fsm);

   139

}

   140

   141

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

   142

 *  master state machine

   143

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

   144

   145

/**

   146

   State: Start.

   147

   Starts with getting slave count and slave states.

   148

*/

   149

   150

void ec_fsm_master_start(ec_fsm_t *fsm)

   151

{

   152

    ec_command_brd(&fsm->command, 0x0130, 2);

   153

    ec_master_queue_command(fsm->master, &fsm->command);

   154

   155

    fsm->master_state = ec_fsm_master_wait;

   156

}

   157

   158

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

   159

   160

void ec_fsm_master_wait(ec_fsm_t *fsm)

   161

{

   162

    ec_command_t *command = &fsm->command;

   163

    unsigned int topology_change, i, eoe_slaves_active;

   164

    ec_slave_t *slave;

   165

   166

    if (command->state != EC_CMD_RECEIVED) {

   167

        fsm->master_state = ec_fsm_master_start;

   168

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

   169

        return;

   170

    }

   171

   172

    if (command->working_counter == fsm->master_slaves_responding &&

   173

        command->data[0] == fsm->master_slave_states)

   174

    {

   175

        // check if any slaves are not in the state, they're supposed to be

   176

        list_for_each_entry(slave, &fsm->master->slaves, list) {

   177

            if (slave->state_error ||

   178

                slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   179

                slave->current_state == slave->requested_state) continue;

   180

   181

            EC_INFO("Changing state of slave %i from ", slave->ring_position);

   182

            ec_print_states(slave->current_state);

   183

            printk(" to ");

   184

            ec_print_states(slave->requested_state);

   185

            printk(".\n");

   186

   187

            fsm->slave = slave;

   188

            fsm->slave_state = ec_fsm_slave_conf;

   189

   190

            fsm->change_new = EC_SLAVE_STATE_INIT;

   191

            fsm->change_state = ec_fsm_change_start;

   192

   193

            fsm->master_state = ec_fsm_master_conf;

   194

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

   195

            return;

   196

        }

   197

   198

        // nothing to configure...

   199

        eoe_slaves_active = 0;

   200

        list_for_each_entry(slave, &fsm->master->slaves, list) {

   201

            if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {

   202

                eoe_slaves_active++;

   203

            }

   204

        }

   205

   206

        if (eoe_slaves_active && !list_empty(&fsm->master->eoe_handlers))

   207

            ec_master_eoe_start(fsm->master);

   208

   209

        fsm->master_state = ec_fsm_master_start;

   210

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

   211

        return;

   212

    }

   213

   214

    topology_change = command->working_counter !=

   215

        fsm->master_slaves_responding;

   216

   217

    fsm->master_slaves_responding = command->working_counter;

   218

    fsm->master_slave_states = command->data[0];

   219

   220

    EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,

   221

            fsm->master_slaves_responding == 1 ? "" : "s");

   222

    ec_print_states(fsm->master_slave_states);

   223

    printk(")\n");

   224

   225

    if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {

   226

        fsm->master_state = ec_fsm_master_start;

   227

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

   228

        return;

   229

    }

   230

   231

    EC_INFO("Topology change detected - Scanning bus.\n");

   232

   233

    ec_master_eoe_stop(fsm->master);

   234

    ec_master_clear_slaves(fsm->master);

   235

   236

    if (!fsm->master_slaves_responding) {

   237

        // no slaves present -> finish state machine.

   238

        fsm->master_state = ec_fsm_master_start;

   239

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

   240

        return;

   241

    }

   242

   243

    // init slaves

   244

    for (i = 0; i < fsm->master_slaves_responding; i++) {

   245

        if (!(slave =

   246

              (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {

   247

            EC_ERR("FSM failed to allocate slave %i!\n", i);

   248

            fsm->master_state = ec_fsm_master_start;

   249

            return;

   250

        }

   251

   252

        if (ec_slave_init(slave, fsm->master, i, i + 1)) {

   253

            fsm->master_state = ec_fsm_master_start;

   254

            return;

   255

        }

   256

   257

        if (kobject_add(&slave->kobj)) {

   258

            EC_ERR("FSM failed to add kobject.\n");

   259

            kobject_put(&slave->kobj); // free

   260

            fsm->master_state = ec_fsm_master_start;

   261

            return;

   262

        }

   263

   264

        list_add_tail(&slave->list, &fsm->master->slaves);

   265

    }

   266

   267

    // begin scanning of slaves

   268

    fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);

   269

    fsm->slave_state = ec_fsm_slave_start_reading;

   270

   271

    fsm->master_state = ec_fsm_master_scan;

   272

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

   273

}

   274

   275

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

   276

   277

/**

   278

   State: Get Slave.

   279

   Executes the sub-statemachine of a slave.

   280

*/

   281

   282

void ec_fsm_master_scan(ec_fsm_t *fsm)

   283

{

   284

    ec_master_t *master = fsm->master;

   285

    ec_slave_t *slave = fsm->slave;

   286

   287

    fsm->slave_state(fsm); // execute slave state machine

   288

   289

    if (fsm->slave_state != ec_fsm_slave_end) return;

   290

   291

    // have all slaves been fetched?

   292

    if (slave->list.next == &master->slaves)

   293

    {

   294

        uint16_t coupler_index, coupler_subindex;

   295

        uint16_t reverse_coupler_index, current_coupler_index;

   296

        ec_slave_t *slave;

   297

        ec_slave_ident_t *ident;

   298

   299

        EC_INFO("Bus scanning completed.\n");

   300

   301

        // identify all slaves and calculate coupler addressing

   302

   303

        coupler_index = 0;

   304

        reverse_coupler_index = 0xFFFF;

   305

        current_coupler_index = 0x3FFF;

   306

        coupler_subindex = 0;

   307

   308

        list_for_each_entry(slave, &master->slaves, list)

   309

        {

   310

            // search for identification in "database"

   311

            ident = slave_idents;

   312

            while (ident->type) {

   313

                if (ident->vendor_id == slave->sii_vendor_id

   314

                    && ident->product_code == slave->sii_product_code) {

   315

                    slave->type = ident->type;

   316

                    break;

   317

                }

   318

                ident++;

   319

            }

   320

   321

            if (!slave->type) {

   322

                EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"

   323

                        " code 0x%08X) at position %i.\n",

   324

                        slave->sii_vendor_id, slave->sii_product_code,

   325

                        slave->ring_position);

   326

            }

   327

            else {

   328

                // if the slave is a bus coupler, change adressing base

   329

                if (slave->type->special == EC_TYPE_BUS_COUPLER) {

   330

                    if (slave->sii_alias)

   331

                        current_coupler_index = reverse_coupler_index--;

   332

                    else

   333

                        current_coupler_index = coupler_index++;

   334

                    coupler_subindex = 0;

   335

                }

   336

            }

   337

   338

            // determine initial state.

   339

            if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {

   340

                slave->requested_state = EC_SLAVE_STATE_OP;

   341

            }

   342

            else {

   343

                if (master->mode == EC_MASTER_MODE_RUNNING)

   344

                    slave->requested_state = EC_SLAVE_STATE_PREOP;

   345

                else

   346

                    slave->requested_state = EC_SLAVE_STATE_INIT;

   347

            }

   348

   349

            // calculate coupler-based slave address

   350

            slave->coupler_index = current_coupler_index;

   351

            slave->coupler_subindex = coupler_subindex;

   352

            coupler_subindex++;

   353

        }

   354

   355

        fsm->master_state = ec_fsm_master_start;

   356

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

   357

        return;

   358

    }

   359

   360

    // process next slave

   361

    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);

   362

    fsm->slave_state = ec_fsm_slave_start_reading;

   363

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

   364

}

   365

   366

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

   367

   368

/**

   369

   Free-Run state: Configure slaves.

   370

*/

   371

   372

void ec_fsm_master_conf(ec_fsm_t *fsm)

   373

{

   374

    ec_master_t *master = fsm->master;

   375

    ec_slave_t *slave;

   376

   377

    fsm->slave_state(fsm); // execute slave's state machine

   378

   379

    if (fsm->slave_state != ec_fsm_slave_end) return;

   380

   381

    // check if any slaves are not in the state, they're supposed to be

   382

    list_for_each_entry(slave, &master->slaves, list) {

   383

        if (slave->state_error ||

   384

            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   385

            slave->current_state == slave->requested_state) continue;

   386

   387

        EC_INFO("Changing state of slave %i from ", slave->ring_position);

   388

        ec_print_states(slave->current_state);

   389

        printk(" to ");

   390

        ec_print_states(slave->requested_state);

   391

        printk(".\n");

   392

   393

        fsm->slave = slave;

   394

        fsm->slave_state = ec_fsm_slave_conf;

   395

   396

        fsm->change_new = EC_SLAVE_STATE_INIT;

   397

        fsm->change_state = ec_fsm_change_start;

   398

   399

        fsm->master_state = ec_fsm_master_conf;

   400

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

   401

        return;

   402

    }

   403

   404

    fsm->master_state = ec_fsm_master_start;

   405

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

   406

}

   407

   408

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

   409

 *  slave state machine

   410

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

   411

   412

/**

   413

   Slave state: Start.

   414

   First state of the slave state machine. Writes the station address to the

   415

   slave, according to its ring position.

   416

*/

   417

   418

void ec_fsm_slave_start_reading(ec_fsm_t *fsm)

   419

{

   420

    ec_command_t *command = &fsm->command;

   421

   422

    // write station address

   423

    ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);

   424

    EC_WRITE_U16(command->data, fsm->slave->station_address);

   425

    ec_master_queue_command(fsm->master, command);

   426

    fsm->slave_state = ec_fsm_slave_read_base;

   427

}

   428

   429

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

   430

   431

/**

   432

   Slave state: Read base.

   433

*/

   434

   435

void ec_fsm_slave_read_base(ec_fsm_t *fsm)

   436

{

   437

    ec_command_t *command = &fsm->command;

   438

   439

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   440

        EC_ERR("FSM failed to write station address of slave %i.\n",

   441

               fsm->slave->ring_position);

   442

        fsm->slave_state = ec_fsm_slave_end;

   443

        return;

   444

    }

   445

   446

    // read base data

   447

    ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);

   448

    ec_master_queue_command(fsm->master, command);

   449

    fsm->slave_state = ec_fsm_slave_read_dl;

   450

}

   451

   452

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

   453

   454

/**

   455

   Slave state: Read DL.

   456

*/

   457

   458

void ec_fsm_slave_read_dl(ec_fsm_t *fsm)

   459

{

   460

    ec_command_t *command = &fsm->command;

   461

    ec_slave_t *slave = fsm->slave;

   462

   463

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   464

        EC_ERR("FSM failed to read base data of slave %i.\n",

   465

               slave->ring_position);

   466

        fsm->slave_state = ec_fsm_slave_end;

   467

        return;

   468

    }

   469

   470

    slave->base_type       = EC_READ_U8 (command->data);

   471

    slave->base_revision   = EC_READ_U8 (command->data + 1);

   472

    slave->base_build      = EC_READ_U16(command->data + 2);

   473

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   474

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   475

   476

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   477

        slave->base_fmmu_count = EC_MAX_FMMUS;

   478

   479

    // read data link status

   480

    ec_command_nprd(command, slave->station_address, 0x0110, 2);

   481

    ec_master_queue_command(slave->master, command);

   482

    fsm->slave_state = ec_fsm_slave_prepare_sii;

   483

}

   484

   485

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

   486

   487

/**

   488

   Slave state: Prepare SII.

   489

*/

   490

   491

void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)

   492

{

   493

    ec_command_t *command = &fsm->command;

   494

    ec_slave_t *slave = fsm->slave;

   495

    uint16_t dl_status;

   496

    unsigned int i;

   497

   498

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   499

        EC_ERR("FSM failed to read DL status of slave %i.\n",

   500

               slave->ring_position);

   501

        fsm->slave_state = ec_fsm_slave_end;

   502

        return;

   503

    }

   504

   505

    dl_status = EC_READ_U16(command->data);

   506

   507

    for (i = 0; i < 4; i++) {

   508

        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   509

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   510

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   511

    }

   512

   513

    fsm->sii_offset = 0x0004;

   514