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 CoE state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "mailbox.h"

    44

#include "fsm_coe.h"

    45

    46

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

    47

    48

/** Maximum time in ms to wait for responses when reading out the dictionary.

    49

 */

    50

#define EC_FSM_COE_DICT_TIMEOUT 3000

    51

    52

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

    53

    54

void ec_fsm_coe_dict_start(ec_fsm_coe_t *);

    55

void ec_fsm_coe_dict_request(ec_fsm_coe_t *);

    56

void ec_fsm_coe_dict_check(ec_fsm_coe_t *);

    57

void ec_fsm_coe_dict_response(ec_fsm_coe_t *);

    58

void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);

    59

void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);

    60

void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);

    61

void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);

    62

void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);

    63

void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);

    64

    65

void ec_fsm_coe_down_start(ec_fsm_coe_t *);

    66

void ec_fsm_coe_down_request(ec_fsm_coe_t *);

    67

void ec_fsm_coe_down_check(ec_fsm_coe_t *);

    68

void ec_fsm_coe_down_response(ec_fsm_coe_t *);

    69

    70

void ec_fsm_coe_up_start(ec_fsm_coe_t *);

    71

void ec_fsm_coe_up_request(ec_fsm_coe_t *);

    72

void ec_fsm_coe_up_check(ec_fsm_coe_t *);

    73

void ec_fsm_coe_up_response(ec_fsm_coe_t *);

    74

void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);

    75

void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);

    76

void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);

    77

    78

void ec_fsm_coe_end(ec_fsm_coe_t *);

    79

void ec_fsm_coe_error(ec_fsm_coe_t *);

    80

    81

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

    82

    83

/**

    84

   Sdo abort messages.

    85

   The "abort Sdo transfer request" supplies an abort code,

    86

   which can be translated to clear text. This table does

    87

   the mapping of the codes and messages.

    88

*/

    89

    90

const ec_code_msg_t sdo_abort_messages[] = {

    91

    {0x05030000, "Toggle bit not changed"},

    92

    {0x05040000, "Sdo protocol timeout"},

    93

    {0x05040001, "Client/Server command specifier not valid or unknown"},

    94

    {0x05040005, "Out of memory"},

    95

    {0x06010000, "Unsupported access to an object"},

    96

    {0x06010001, "Attempt to read a write-only object"},

    97

    {0x06010002, "Attempt to write a read-only object"},

    98

    {0x06020000, "This object does not exist in the object directory"},

    99

    {0x06040041, "The object cannot be mapped into the Pdo"},

   100

    {0x06040042, "The number and length of the objects to be mapped would"

   101

     " exceed the Pdo length"},

   102

    {0x06040043, "General parameter incompatibility reason"},

   103

    {0x06040047, "Gerneral internal incompatibility in device"},

   104

    {0x06060000, "Access failure due to a hardware error"},

   105

    {0x06070010, "Data type does not match, length of service parameter does"

   106

     " not match"},

   107

    {0x06070012, "Data type does not match, length of service parameter too"

   108

     " high"},

   109

    {0x06070013, "Data type does not match, length of service parameter too"

   110

     " low"},

   111

    {0x06090011, "Subindex does not exist"},

   112

    {0x06090030, "Value range of parameter exceeded"},

   113

    {0x06090031, "Value of parameter written too high"},

   114

    {0x06090032, "Value of parameter written too low"},

   115

    {0x06090036, "Maximum value is less than minimum value"},

   116

    {0x08000000, "General error"},

   117

    {0x08000020, "Data cannot be transferred or stored to the application"},

   118

    {0x08000021, "Data cannot be transferred or stored to the application"

   119

     " because of local control"},

   120

    {0x08000022, "Data cannot be transferred or stored to the application"

   121

     " because of the present device state"},

   122

    {0x08000023, "Object dictionary dynamic generation fails or no object"

   123

     " dictionary is present"},

   124

    {}

   125

};

   126

   127

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

   128

   129

/**

   130

   Outputs an Sdo abort message.

   131

*/

   132

   133

void ec_canopen_abort_msg(uint32_t abort_code)

   134

{

   135

    const ec_code_msg_t *abort_msg;

   136

   137

    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {

   138

        if (abort_msg->code == abort_code) {

   139

            EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",

   140

                   abort_msg->code, abort_msg->message);

   141

            return;

   142

        }

   143

    }

   144

   145

    EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);

   146

}

   147

   148

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

   149

   150

/**

   151

   Constructor.

   152

*/

   153

   154

void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */

   155

                     ec_datagram_t *datagram /**< datagram */

   156

                     )

   157

{

   158

    fsm->state = NULL;

   159

    fsm->datagram = datagram;

   160

}

   161

   162

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

   163

   164

/**

   165

   Destructor.

   166

*/

   167

   168

void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)

   169

{

   170

}

   171

   172

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

   173

   174

/**

   175

   Starts reading a slaves' Sdo dictionary.

   176

*/

   177

   178

void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */

   179

                           ec_slave_t *slave /**< EtherCAT slave */

   180

                           )

   181

{

   182

    fsm->slave = slave;

   183

    fsm->state = ec_fsm_coe_dict_start;

   184

}

   185

   186

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

   187

   188

/**

   189

   Starts to transfer an Sdo to/from a slave.

   190

*/

   191

   192

void ec_fsm_coe_transfer(

   193

        ec_fsm_coe_t *fsm, /**< State machine. */

   194

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

   195

        ec_sdo_request_t *request /**< Sdo request. */

   196

        )

   197

{

   198

    fsm->slave = slave;

   199

    fsm->request = request;

   200

    if (request->dir == EC_DIR_OUTPUT)

   201

        fsm->state = ec_fsm_coe_down_start;

   202

    else

   203

        fsm->state = ec_fsm_coe_up_start;

   204

}

   205

   206

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

   207

   208

/**

   209

   Executes the current state of the state machine.

   210

   \return false, if state machine has terminated

   211

*/

   212

   213

int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)

   214

{

   215

    fsm->state(fsm);

   216

   217

    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;

   218

}

   219

   220

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

   221

   222

/**

   223

   Returns, if the state machine terminated with success.

   224

   \return non-zero if successful.

   225

*/

   226

   227

int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)

   228

{

   229

    return fsm->state == ec_fsm_coe_end;

   230

}

   231

   232

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

   233

   234

/** Check if the received data are a CoE emergency request.

   235

 *

   236

 * If the check is positive, the emergency request is output.

   237

 *

   238

 * \return The data were an emergency request.

   239

 */

   240

int ec_fsm_coe_check_emergency(

   241

        ec_fsm_coe_t *fsm, /**< Finite state machine */

   242

        const uint8_t *data, /**< CoE mailbox data. */

   243

        size_t size /**< CoE mailbox data size. */

   244

        )

   245

{

   246

    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)

   247

        return 0;

   248

   249

    if (size < 10) {

   250

        EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",

   251

                fsm->slave->ring_position);

   252

        ec_print_data(data, size);

   253

        return 1;

   254

    }

   255

   256

    EC_INFO("CoE Emergency Request received from slave %u:\n",

   257

            fsm->slave->ring_position);

   258

    EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",

   259

            EC_READ_U16(data + 2), EC_READ_U8(data + 4));

   260

    ec_print_data(data + 5, 5);

   261

    return 1;

   262

}

   263

   264

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

   265

 *  CoE dictionary state machine

   266

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

   267

   268

/**

   269

   CoE state: DICT START.

   270

*/

   271

   272

void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)

   273

{

   274

    ec_datagram_t *datagram = fsm->datagram;

   275

    ec_slave_t *slave = fsm->slave;

   276

    uint8_t *data;

   277

   278

    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {

   279

        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);

   280

        fsm->state = ec_fsm_coe_error;

   281

        return;

   282

    }

   283

   284

    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {

   285

        fsm->state = ec_fsm_coe_error;

   286

        return;

   287

    }

   288

   289

    EC_WRITE_U16(data, 0x8 << 12); // Sdo information

   290

    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request

   291

    EC_WRITE_U8 (data + 3, 0x00);

   292

    EC_WRITE_U16(data + 4, 0x0000);

   293

    EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!

   294

   295

    fsm->retries = EC_FSM_RETRIES;

   296

    fsm->state = ec_fsm_coe_dict_request;

   297

}

   298

   299

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

   300

   301

/**

   302

   CoE state: DICT REQUEST.

   303

   \todo Timeout behavior

   304

*/

   305

   306

void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)

   307

{

   308

    ec_datagram_t *datagram = fsm->datagram;

   309

    ec_slave_t *slave = fsm->slave;

   310

   311

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

   312

        return; // FIXME: request again?

   313

   314

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   315

        fsm->state = ec_fsm_coe_error;

   316

        EC_ERR("Failed to receive CoE dictionary request datagram for"

   317

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

   318

               slave->ring_position, datagram->state);

   319

        return;

   320

    }

   321

   322

    if (datagram->working_counter != 1) {

   323

        fsm->state = ec_fsm_coe_error;

   324

        EC_ERR("Reception of CoE dictionary request failed on slave %u: ",

   325

                slave->ring_position);

   326

        ec_datagram_print_wc_error(datagram);

   327

        return;

   328

    }

   329

   330

    fsm->jiffies_start = datagram->jiffies_sent;

   331

   332

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   333

    fsm->retries = EC_FSM_RETRIES;

   334

    fsm->state = ec_fsm_coe_dict_check;

   335

}

   336

   337

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

   338

   339

/**

   340

   CoE state: DICT CHECK.

   341

*/

   342

   343

void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)

   344

{

   345

    ec_datagram_t *datagram = fsm->datagram;

   346

    ec_slave_t *slave = fsm->slave;

   347

   348

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

   349

        return;

   350

   351

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   352

        fsm->state = ec_fsm_coe_error;

   353

        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"

   354

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

   355

               slave->ring_position, datagram->state);

   356

        return;

   357

    }

   358

   359

    if (datagram->working_counter != 1) {

   360

        fsm->state = ec_fsm_coe_error;

   361

        EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",

   362

               slave->ring_position);

   363

        ec_datagram_print_wc_error(datagram);

   364

        return;

   365

    }

   366

   367

    if (!ec_slave_mbox_check(datagram)) {

   368

        unsigned long diff_ms =

   369

            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;

   370

        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {

   371

            fsm->state = ec_fsm_coe_error;

   372

            EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",

   373

                   slave->ring_position);

   374

            return;

   375

        }

   376

   377

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   378

        fsm->retries = EC_FSM_RETRIES;

   379

        return;

   380

    }

   381

   382

    // Fetch response

   383

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   384

    fsm->retries = EC_FSM_RETRIES;

   385

    fsm->state = ec_fsm_coe_dict_response;

   386

}

   387

   388

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

   389

   390

/**

   391

   CoE state: DICT RESPONSE.

   392

   \todo Timeout behavior

   393

*/

   394

   395

void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)

   396

{

   397

    ec_datagram_t *datagram = fsm->datagram;

   398

    ec_slave_t *slave = fsm->slave;

   399

    uint8_t *data, mbox_prot;

   400

    size_t rec_size;

   401

    unsigned int sdo_count, i;

   402

    uint16_t sdo_index, fragments_left;

   403

    ec_sdo_t *sdo;

   404

   405

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

   406

        return; // FIXME: request again?

   407

   408

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   409

        fsm->state = ec_fsm_coe_error;

   410

        EC_ERR("Failed to receive CoE dictionary response datagram for"

   411

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

   412

               slave->ring_position, datagram->state);

   413

        return;

   414

    }

   415

   416

    if (datagram->working_counter != 1) {

   417

        fsm->state = ec_fsm_coe_error;

   418

        EC_ERR("Reception of CoE dictionary response failed on slave %u: ",

   419

                slave->ring_position);

   420

        ec_datagram_print_wc_error(datagram);

   421

        return;

   422

    }

   423

   424

    if (!(data = ec_slave_mbox_fetch(slave, datagram,

   425

				     &mbox_prot, &rec_size))) {

   426

        fsm->state = ec_fsm_coe_error;

   427

        return;

   428

    }

   429

   430

    if (mbox_prot != 0x03) { // CoE

   431

        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);

   432

        fsm->state = ec_fsm_coe_error;

   433

        return;

   434

    }

   435

   436

    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {

   437

        // check for CoE response again

   438

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   439

        fsm->retries = EC_FSM_RETRIES;

   440

        fsm->state = ec_fsm_coe_dict_check;

   441

        return;

   442

    }

   443

   444

    if (rec_size < 3) {

   445

        EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",

   446

                rec_size);

   447

        fsm->state = ec_fsm_coe_error;

   448

        return;

   449

    }

   450

   451

    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information

   452

        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response

   453

        EC_ERR("Sdo information error response at slave %u!\n",

   454

               slave->ring_position);

   455

        if (rec_size < 10) {

   456

            EC_ERR("Incomplete Sdo information error response:\n");

   457

            ec_print_data(data, rec_size);

   458

        } else {

   459

            ec_canopen_abort_msg(EC_READ_U32(data + 6));

   460

        }

   461

        fsm->state = ec_fsm_coe_error;

   462

        return;

   463

    }

   464

   465

    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information

   466

        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response

   467

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

   468

            EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",

   469

                    slave->ring_position);

   470

            ec_print_data(data, rec_size);

   471

        }

   472

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   473

        fsm->retries = EC_FSM_RETRIES;

   474

        fsm->state = ec_fsm_coe_dict_check;

   475

        return;

   476

    }

   477

   478

    if (rec_size < 8 || rec_size % 2) {

   479

        EC_ERR("Invalid data size %u!\n", rec_size);

   480

        ec_print_data(data, rec_size);

   481

        fsm->state = ec_fsm_coe_error;

   482

        return;

   483

    }

   484

   485

    sdo_count = (rec_size - 8) / 2;

   486

   487

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

   488

        sdo_index = EC_READ_U16(data + 8 + i * 2);

   489

        if (!sdo_index) {

   490

            if (slave->master->debug_level)

   491

                EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",

   492

                        slave->ring_position);

   493

            continue;

   494

        }

   495

   496

        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {

   497

            EC_ERR("Failed to allocate memory for Sdo!\n");

   498

            fsm->state = ec_fsm_coe_error;

   499

            return;

   500

        }

   501

   502

        ec_sdo_init(sdo, slave, sdo_index);

   503

        list_add_tail(&sdo->list, &slave->sdo_dictionary);

   504

    }

   505

   506

    fragments_left = EC_READ_U16(data + 4);

   507

    if (slave->master->debug_level && fragments_left) {

   508

        EC_DBG("Sdo list fragments left: %u\n", fragments_left);

   509

    }

   510