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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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 *

    22

 *  ---

    23

 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

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#include "mailbox.h"

    39

#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    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 *);

    52

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_dc_measure_delays(ec_fsm_master_t *);

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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

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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_reg_request(ec_fsm_master_t *);

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void ec_fsm_master_state_foe_request(ec_fsm_master_t *);

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    63

    64

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

    65

    66

/** Constructor.

    67

 */

    68

void ec_fsm_master_init(

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

    70

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

    71

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

    72

        )

    73

{

    74

    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;

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    fsm->link_state = 0;

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    fsm->slaves_responding = 0;

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    fsm->topology_change_pending = 0;

    81

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    82

    83

    // 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);

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}

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    95

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

    96

    97

/** Destructor.

    98

 */

    99

void ec_fsm_master_clear(

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

   101

        )

   102

{

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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);

   108

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   110

    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   113

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

   114

   115

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

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 *

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 * 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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 *

   120

 * \return true, if the state machine was executed

   121

 */

   122

int ec_fsm_master_exec(

   123

        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 0;

   130

    }

   131

   132

    fsm->state(fsm);

   133

    return 1;

   134

}

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   136

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

   137

   138

/**

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

   140

 */

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int ec_fsm_master_idle(

   142

        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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   150

/** Restarts the master state machine.

   151

 */

   152

void ec_fsm_master_restart(

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

   154

        )

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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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   160

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

   161

 * Master state machine

   162

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

   163

   164

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

   167

 */

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void ec_fsm_master_state_start(

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

   170

        )

   171

{

   172

    fsm->idle = 1;

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

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    ec_datagram_zero(fsm->datagram);

   175

    fsm->state = ec_fsm_master_state_broadcast;

   176

}

   177

   178

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

   179

   180

/** Master state: BROADCAST.

   181

 *

   182

 * Processes the broadcast read slave count and slaves states.

   183

 */

   184

void ec_fsm_master_state_broadcast(

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

   186

        )

   187

{

   188

    ec_datagram_t *datagram = fsm->datagram;

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    unsigned int i, size;

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    ec_slave_t *slave;

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    ec_master_t *master = fsm->master;

   192

   193

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   195

   196

    // bus topology change?

   197

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

   198

        fsm->topology_change_pending = 1;

   199

        fsm->slaves_responding = datagram->working_counter;

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

   201

    }

   202

   203

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

   204

        if (master->debug_level) {

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            EC_DBG("Master state machine detected "

   206

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

   207

        }

   208

   209

#ifdef EC_EOE

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        ec_master_eoe_stop(master);

   211

        ec_master_clear_eoe_handlers(master);

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#endif

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        ec_master_clear_slaves(master);

   214

    }

   215

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

   216

   217

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   218

        ec_fsm_master_restart(fsm);

   219

        return;

   220

    }

   221

   222

    if (fsm->slaves_responding) {

   223

        uint8_t states = EC_READ_U8(datagram->data);

   224

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

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            char state_str[EC_STATE_STRING_SIZE];

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            fsm->slave_states = states;

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

   228

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

   229

        }

   230

    } else {

   231

        fsm->slave_states = 0x00;

   232

    }

   233

   234

    if (fsm->topology_change_pending) {

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        down(&master->scan_sem);

   236

        if (!master->allow_scan) {

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            up(&master->scan_sem);

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        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

   241

   242

            // 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;

   246

            fsm->scan_jiffies = jiffies;

   247

   248

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   250

            ec_master_clear_eoe_handlers(master);

   251

#endif

   252

            ec_master_clear_slaves(master);

   253

   254

            master->slave_count = fsm->slaves_responding;

   255

   256

            if (!master->slave_count) {

   257

                // no slaves present -> finish state machine.

   258

                master->scan_busy = 0;

   259

                wake_up_interruptible(&master->scan_queue);

   260

                ec_fsm_master_restart(fsm);

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                return;

   262

            }

   263

   264

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

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

   266

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

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                        size);

   268

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

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                master->scan_busy = 0;

   270

                wake_up_interruptible(&master->scan_queue);

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                ec_fsm_master_restart(fsm);

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                return;

   273

            }

   274

   275

            // init slaves

   276

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

   277

                slave = master->slaves + i;

   278

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

   279

   280

                // do not force reconfiguration in operation phase to avoid

   281

                // unnecesssary process data interruptions

   282

                if (master->phase != EC_OPERATION)

   283

                    slave->force_config = 1;

   284

            }

   285

   286

            // broadcast clear all station addresses

   287

            ec_datagram_bwr(datagram, 0x0010, 2);

   288

            EC_WRITE_U16(datagram->data, 0x0000);

   289

            fsm->retries = EC_FSM_RETRIES;

   290

            fsm->state = ec_fsm_master_state_clear_addresses;

   291

            return;

   292

        }

   293

    }

   294

   295

    if (master->slave_count) {

   296

        // fetch state from first slave

   297

        fsm->slave = master->slaves;

   298

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

   299

                0x0130, 2);

   300

        ec_datagram_zero(datagram);

   301

        fsm->retries = EC_FSM_RETRIES;

   302

        fsm->state = ec_fsm_master_state_read_state;

   303

    } else {

   304

        ec_fsm_master_restart(fsm);

   305

    }

   306

}

   307

   308

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

   309

   310

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

   311

 *

   312

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

   313

 */

   314

int ec_fsm_master_action_process_sii(

   315

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

   316

        )

   317

{

   318

    ec_master_t *master = fsm->master;

   319

    ec_sii_write_request_t *request;

   320

   321

    // search the first request to be processed

   322

    while (1) {

   323

        if (list_empty(&master->sii_requests))

   324

            break;

   325

   326

        // get first request

   327

        request = list_entry(master->sii_requests.next,

   328

                ec_sii_write_request_t, list);

   329

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

   330

        request->state = EC_INT_REQUEST_BUSY;

   331

   332

        // found pending SII write operation. execute it!

   333

        if (master->debug_level)

   334

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

   335

                    request->slave->ring_position);

   336

        fsm->sii_request = request;

   337

        fsm->sii_index = 0;

   338

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

   339

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   340

        fsm->state = ec_fsm_master_state_write_sii;

   341

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

   342

        return 1;

   343

    }

   344

   345

    return 0;

   346

}

   347

   348

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

   349

   350

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

   351

 *

   352

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

   353

 */

   354

int ec_fsm_master_action_process_register(

   355

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

   356

        )

   357

{

   358

    ec_master_t *master = fsm->master;

   359

    ec_reg_request_t *request;

   360

   361

    // search the first request to be processed

   362

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

   363

   364

        // get first request

   365

        request = list_entry(master->reg_requests.next,

   366

                ec_reg_request_t, list);

   367

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

   368

        request->state = EC_INT_REQUEST_BUSY;

   369

   370

        // found pending request; process it!

   371

        if (master->debug_level)

   372

            EC_DBG("Processing register request for slave %u, "

   373

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

   374

                    request->slave->ring_position,

   375

                    request->offset, request->length);

   376

   377

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

   378

            EC_ERR("Request length (%zu) exceeds maximum "

   379

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

   380

                    fsm->datagram->mem_size);

   381

            request->state = EC_INT_REQUEST_FAILURE;

   382

            wake_up(&master->reg_queue);

   383

            continue;

   384

        }

   385

   386

        fsm->reg_request = request;

   387

   388

        if (request->dir == EC_DIR_INPUT) {

   389

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

   390

                    request->offset, request->length);

   391

            ec_datagram_zero(fsm->datagram);

   392

        } else {

   393

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

   394

                    request->offset, request->length);

   395

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

   396

        }

   397

        fsm->retries = EC_FSM_RETRIES;

   398

        fsm->state = ec_fsm_master_state_reg_request;

   399

        return 1;

   400

    }

   401

   402

    return 0;

   403

}

   404

   405

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

   406

   407

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

   408

 *

   409

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

   410

 */

   411

int ec_fsm_master_action_process_sdo(

   412

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

   413

        )

   414

{

   415

    ec_master_t *master = fsm->master;

   416

    ec_slave_t *slave;

   417

    ec_sdo_request_t *req;

   418

   419

    // search for internal requests to be processed

   420

    for (slave = master->slaves;

   421

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

   422

            slave++) {

   423

        if (!slave->config)

   424

            continue;

   425

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

   426

            if (req->state == EC_INT_REQUEST_QUEUED) {

   427

   428

                if (ec_sdo_request_timed_out(req)) {

   429

                    req->state = EC_INT_REQUEST_FAILURE;

   430

                    if (master->debug_level)

   431

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

   432

                                slave->ring_position);

   433

                    continue;

   434

                }

   435

   436

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   437

                    req->state = EC_INT_REQUEST_FAILURE;

   438

                    continue;

   439

                }

   440

   441

                req->state = EC_INT_REQUEST_BUSY;

   442

                if (master->debug_level)

   443

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

   444

                            slave->ring_position);

   445

   446

                fsm->idle = 0;

   447

                fsm->sdo_request = req;

   448

                fsm->slave = slave;

   449

                fsm->state = ec_fsm_master_state_sdo_request;

   450

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

   451

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

   452

                return 1;

   453

            }

   454

        }

   455

    }

   456

    return 0;

   457

}

   458

   459

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

   460

   461

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

   462

 *

   463

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

   464

 */

   465

int ec_fsm_master_action_process_foe(

   466

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

   467

        )

   468

{

   469

    ec_master_t *master = fsm->master;

   470

    ec_slave_t *slave;

   471

    ec_master_foe_request_t *request;

   472

   473

    // search the first request to be processed

   474

    while (1) {

   475

        if (list_empty(&master->foe_requests))

   476

            break;

   477

   478

        // get first request

   479

        request = list_entry(master->foe_requests.next,

   480

                ec_master_foe_request_t, list);

   481

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

   482

        request->req.state = EC_INT_REQUEST_BUSY;

   483

        slave = request->slave;

   484