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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  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 along

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 *  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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 *

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

    39

#include "slave_config.h"

    40

#ifdef EC_EOE

    41

#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

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#include "fsm_foe.h"

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    47

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

    48

    49

void ec_fsm_master_state_start(ec_fsm_master_t *);

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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

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void ec_fsm_master_state_read_state(ec_fsm_master_t *);

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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    56

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

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void ec_fsm_master_state_phy_request(ec_fsm_master_t *);

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void ec_fsm_master_state_foe_request(ec_fsm_master_t *);

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    62

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

    63

    64

/** Constructor.

    65

 */

    66

void ec_fsm_master_init(

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

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

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

    70

        )

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{

    72

    fsm->master = master;

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    fsm->datagram = datagram;

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    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

    76

    fsm->slaves_responding = 0;

    77

    fsm->topology_change_pending = 0;

    78

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    79

    80

    // init sub-state-machines

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

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    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);

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

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

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

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

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

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

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

    90

}

    91

    92

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

    93

    94

/** Destructor.

    95

 */

    96

void ec_fsm_master_clear(

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

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        )

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{

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_foe_clear(&fsm->fsm_foe);

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    ec_fsm_pdo_clear(&fsm->fsm_pdo);

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    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

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    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   110

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

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   112

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

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 *

   114

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

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

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 */

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void ec_fsm_master_exec(

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

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        )

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{

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

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

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        // datagram was not sent or received yet.

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        return;

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    }

   126

   127

    fsm->state(fsm);

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}

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   130

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

   131

   132

/**

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

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 */

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int ec_fsm_master_idle(

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

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        )

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{

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    return fsm->idle;

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}

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

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   144

/** Restarts the master state machine.

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 */

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void ec_fsm_master_restart(

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

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        )

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{

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    fsm->state = ec_fsm_master_state_start;

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

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}

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   154

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

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 * Master state machine

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

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   158

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

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 */

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void ec_fsm_master_state_start(

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

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        )

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{

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    fsm->idle = 1;

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

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    ec_datagram_zero(fsm->datagram);

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    fsm->state = ec_fsm_master_state_broadcast;

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}

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

   173

   174

/** Master state: BROADCAST.

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 *

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 * Processes the broadcast read slave count and slaves states.

   177

 */

   178

void ec_fsm_master_state_broadcast(

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

   180

        )

   181

{

   182

    ec_datagram_t *datagram = fsm->datagram;

   183

    unsigned int i, size;

   184

    ec_slave_t *slave;

   185

    ec_master_t *master = fsm->master;

   186

   187

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   189

   190

    // bus topology change?

   191

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

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        fsm->topology_change_pending = 1;

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        fsm->slaves_responding = datagram->working_counter;

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        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);

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    }

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    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down

   198

        ec_fsm_master_restart(fsm);

   199

        return;

   200

    }

   201

   202

    if (fsm->slaves_responding) {

   203

        uint8_t states = EC_READ_U8(datagram->data);

   204

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

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            char state_str[EC_STATE_STRING_SIZE];

   206

            fsm->slave_states = states;

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

   208

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

   209

        }

   210

    } else {

   211

        fsm->slave_states = 0x00;

   212

    }

   213

   214

    if (fsm->topology_change_pending) {

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        down(&master->scan_sem);

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        if (!master->allow_scan) {

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            up(&master->scan_sem);

   218

        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

   221

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            // topology change when scan is allowed:

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            // clear all slaves and scan the bus

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            fsm->topology_change_pending = 0;

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            fsm->idle = 0;

   226

            fsm->scan_jiffies = jiffies;

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   228

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

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            ec_master_clear_eoe_handlers(master);

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#endif

   232

            ec_master_clear_slaves(master);

   233

   234

            master->slave_count = fsm->slaves_responding;

   235

   236

            if (!master->slave_count) {

   237

                // no slaves present -> finish state machine.

   238

                master->scan_busy = 0;

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                wake_up_interruptible(&master->scan_queue);

   240

                ec_fsm_master_restart(fsm);

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                return;

   242

            }

   243

   244

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

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

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                EC_ERR("Failed to allocate %u bytes of slave memory!\n",

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                        size);

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

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                master->scan_busy = 0;

   250

                wake_up_interruptible(&master->scan_queue);

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                ec_fsm_master_restart(fsm);

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                return;

   253

            }

   254

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            // init slaves

   256

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

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                slave = master->slaves + i;

   258

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

   259

   260

                // do not force reconfiguration in operation phase to avoid

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                // unnecesssary process data interruptions

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                if (master->phase != EC_OPERATION)

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                    slave->force_config = 1;

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            }

   265

   266

            // broadcast clear all station addresses

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            ec_datagram_bwr(datagram, 0x0010, 2);

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            EC_WRITE_U16(datagram->data, 0x0000);

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            fsm->retries = EC_FSM_RETRIES;

   270

            fsm->state = ec_fsm_master_state_clear_addresses;

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            return;

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        }

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    }

   274

   275

    if (master->slave_count) {

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        // fetch state from first slave

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        fsm->slave = master->slaves;

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

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                0x0130, 2);

   280

        ec_datagram_zero(datagram);

   281

        fsm->retries = EC_FSM_RETRIES;

   282

        fsm->state = ec_fsm_master_state_read_state;

   283

    } else {

   284

        ec_fsm_master_restart(fsm);

   285

    }

   286

}

   287

   288

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

   289

   290

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

   291

 *

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

   293

 */

   294

int ec_fsm_master_action_process_sii(

   295

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

   296

        )

   297

{

   298

    ec_master_t *master = fsm->master;

   299

    ec_sii_write_request_t *request;

   300

   301

    // search the first request to be processed

   302

    while (1) {

   303

        if (list_empty(&master->sii_requests))

   304

            break;

   305

   306

        // get first request

   307

        request = list_entry(master->sii_requests.next,

   308

                ec_sii_write_request_t, list);

   309

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

   310

        request->state = EC_INT_REQUEST_BUSY;

   311

   312

        // found pending SII write operation. execute it!

   313

        if (master->debug_level)

   314

            EC_DBG("Writing SII data to slave %u...\n",

   315

                    request->slave->ring_position);

   316

        fsm->sii_request = request;

   317

        fsm->sii_index = 0;

   318

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

   319

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   320

        fsm->state = ec_fsm_master_state_write_sii;

   321

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

   322

        return 1;

   323

    }

   324

   325

    return 0;

   326

}

   327

   328

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

   329

   330

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

   331

 * 

   332

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

   333

 */

   334

int ec_fsm_master_action_process_phy(

   335

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

   336

        )

   337

{

   338

    ec_master_t *master = fsm->master;

   339

    ec_phy_request_t *request;

   340

   341

    // search the first request to be processed

   342

    while (1) {

   343

        if (list_empty(&master->phy_requests))

   344

            break;

   345

   346

        // get first request

   347

        request = list_entry(master->phy_requests.next,

   348

                ec_phy_request_t, list);

   349

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

   350

        request->state = EC_INT_REQUEST_BUSY;

   351

   352

        // found pending request; process it!

   353

        if (master->debug_level)

   354

            EC_DBG("Processing phy request for slave %u...\n",

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                    request->slave->ring_position);

   356

        fsm->phy_request = request;

   357

   358

        if (request->dir == EC_DIR_INPUT) {

   359

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

   360

                    request->offset, request->length);

   361

            ec_datagram_zero(fsm->datagram);

   362

        } else {

   363

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

   364

                EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",

   365

                        request->length, fsm->datagram->mem_size);

   366

                request->state = EC_INT_REQUEST_FAILURE;

   367

                wake_up(&master->phy_queue);

   368

                continue;

   369

            }

   370

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

   371

                    request->offset, request->length);

   372

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

   373

        }

   374

        fsm->retries = EC_FSM_RETRIES;

   375

        fsm->state = ec_fsm_master_state_phy_request;

   376

        return 1;

   377

    }

   378

   379

    return 0;

   380

}

   381

   382

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

   383

   384

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

   385

 *

   386

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

   387

 */

   388

int ec_fsm_master_action_process_sdo(

   389

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

   390

        )

   391

{

   392

    ec_master_t *master = fsm->master;

   393

    ec_slave_t *slave;

   394

    ec_sdo_request_t *req;

   395

    ec_master_sdo_request_t *request;

   396

   397

    // search for internal requests to be processed

   398

    for (slave = master->slaves;

   399

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

   400

            slave++) {

   401

        if (!slave->config)

   402

            continue;

   403

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

   404

            if (req->state == EC_INT_REQUEST_QUEUED) {

   405

   406

                if (ec_sdo_request_timed_out(req)) {

   407

                    req->state = EC_INT_REQUEST_FAILURE;

   408

                    if (master->debug_level)

   409

                        EC_DBG("SDO request for slave %u timed out...\n",

   410

                                slave->ring_position);

   411

                    continue;

   412

                }

   413

   414

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   415

                    req->state = EC_INT_REQUEST_FAILURE;

   416

                    continue;

   417

                }

   418

   419

                req->state = EC_INT_REQUEST_BUSY;

   420

                if (master->debug_level)

   421

                    EC_DBG("Processing SDO request for slave %u...\n",

   422

                            slave->ring_position);

   423

   424

                fsm->idle = 0;

   425

                fsm->sdo_request = req;

   426

                fsm->slave = slave;

   427

                fsm->state = ec_fsm_master_state_sdo_request;

   428

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

   429

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

   430

                return 1;

   431

            }

   432

        }

   433

    }

   434

   435

    // search the first external request to be processed

   436

    while (1) {

   437

        if (list_empty(&master->slave_sdo_requests))

   438

            break;

   439

   440

        // get first request

   441

        request = list_entry(master->slave_sdo_requests.next,

   442

                ec_master_sdo_request_t, list);

   443

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

   444

        request->req.state = EC_INT_REQUEST_BUSY;

   445

   446

        slave = request->slave;

   447

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   448

            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",

   449

                    slave->ring_position);

   450

            request->req.state = EC_INT_REQUEST_FAILURE;

   451

            wake_up(&master->sdo_queue);

   452

            continue;

   453

        }

   454

   455

        // Found pending SDO request. Execute it!

   456

        if (master->debug_level)

   457

            EC_DBG("Processing SDO request for slave %u...\n",

   458

                    slave->ring_position);

   459

   460

        // Start uploading SDO

   461

        fsm->idle = 0;

   462

        fsm->sdo_request = &request->req;

   463

        fsm->slave = slave;

   464

        fsm->state = ec_fsm_master_state_sdo_request;

   465

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

   466

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

   467

        return 1;

   468

    }

   469

   470

    return 0;

   471

}

   472

   473

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

   474

   475

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

   476

 *

   477

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

   478

 */

   479

int ec_fsm_master_action_process_foe(

   480

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

   481

        )

   482

{

   483

    ec_master_t *master = fsm->master;

   484

    ec_slave_t *slave;