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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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 *  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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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    34

/**

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   \file

    36

   EtherCAT finite state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

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#include "master.h"

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#include "mailbox.h"

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    46

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

    47

    48

void ec_fsm_master_start(ec_fsm_t *);

    49

void ec_fsm_master_broadcast(ec_fsm_t *);

    50

void ec_fsm_master_read_states(ec_fsm_t *);

    51

void ec_fsm_master_acknowledge(ec_fsm_t *);

    52

void ec_fsm_master_validate_vendor(ec_fsm_t *);

    53

void ec_fsm_master_validate_product(ec_fsm_t *);

    54

void ec_fsm_master_rewrite_addresses(ec_fsm_t *);

    55

void ec_fsm_master_configure_slave(ec_fsm_t *);

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void ec_fsm_master_scan_slaves(ec_fsm_t *);

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void ec_fsm_master_write_eeprom(ec_fsm_t *);

    58

void ec_fsm_master_sdodict(ec_fsm_t *);

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void ec_fsm_master_sdo_request(ec_fsm_t *);

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void ec_fsm_master_end(ec_fsm_t *);

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void ec_fsm_master_error(ec_fsm_t *);

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    63

void ec_fsm_slavescan_start(ec_fsm_t *);

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void ec_fsm_slavescan_address(ec_fsm_t *);

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void ec_fsm_slavescan_state(ec_fsm_t *);

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void ec_fsm_slavescan_base(ec_fsm_t *);

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void ec_fsm_slavescan_datalink(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);

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    71

void ec_fsm_slaveconf_state_start(ec_fsm_t *);

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void ec_fsm_slaveconf_state_init(ec_fsm_t *);

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void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);

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void ec_fsm_slaveconf_state_sync(ec_fsm_t *);

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void ec_fsm_slaveconf_state_preop(ec_fsm_t *);

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void ec_fsm_slaveconf_state_sync2(ec_fsm_t *);

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void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);

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void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);

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void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);

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void ec_fsm_slaveconf_state_op(ec_fsm_t *);

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    82

void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);

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    89

void ec_fsm_slave_state_end(ec_fsm_t *);

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void ec_fsm_slave_state_error(ec_fsm_t *);

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    92

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

    93

    94

/**

    95

   Constructor.

    96

*/

    97

    98

int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */

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                ec_master_t *master /**< EtherCAT master */

   100

                )

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{

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    fsm->master = master;

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    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

   105

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

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    fsm->master_validation = 0;

   107

   108

    ec_datagram_init(&fsm->datagram);

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    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {

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        EC_ERR("Failed to allocate FSM datagram.\n");

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        return -1;

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    }

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    // init sub-state-machines

   115

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

   116

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

   117

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

   118

   119

    return 0;

   120

}

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   122

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

   123

   124

/**

   125

   Destructor.

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*/

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   128

void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)

   129

{

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    // clear sub-state machines

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    ec_fsm_sii_clear(&fsm->fsm_sii);

   132

    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_datagram_clear(&fsm->datagram);

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}

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   138

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

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   140

/**

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   Executes the current state of the state machine.

   142

   \return false, if state machine has terminated

   143

*/

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   145

int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)

   146

{

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    fsm->master_state(fsm);

   148

   149

    return ec_fsm_running(fsm);

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}

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   152

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

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   154

/**

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   \return false, if state machine has terminated

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*/

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   158

int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)

   159

{

   160

    return fsm->master_state != ec_fsm_master_end

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        && fsm->master_state != ec_fsm_master_error;

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}

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   164

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

   165

   166

/**

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   \return true, if the master state machine terminated gracefully

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*/

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   170

int ec_fsm_success(ec_fsm_t *fsm /**< finite state machine */)

   171

{

   172

    return fsm->master_state == ec_fsm_master_end;

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}

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   175

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

   176

 *  operation/idle state machine

   177

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

   178

   179

/**

   180

   Master state: START.

   181

   Starts with getting slave count and slave states.

   182

*/

   183

   184

void ec_fsm_master_start(ec_fsm_t *fsm)

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{

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

   187

    ec_master_queue_datagram(fsm->master, &fsm->datagram);

   188

    fsm->master_state = ec_fsm_master_broadcast;

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}

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   191

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

   192

   193

/**

   194

   Master state: BROADCAST.

   195

   Processes the broadcast read slave count and slaves states.

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*/

   197

   198

void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)

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{

   200

    ec_datagram_t *datagram = &fsm->datagram;

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    unsigned int topology_change, states_change, i;

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    ec_slave_t *slave;

   203

    ec_master_t *master = fsm->master;

   204

   205

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   206

        if (!master->device->link_state) {

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            fsm->master_slaves_responding = 0;

   208

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

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                slave->online = 0;

   210

            }

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        }

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        else {

   213

            EC_ERR("Failed to receive broadcast datagram.\n");

   214

        }

   215

        fsm->master_state = ec_fsm_master_error;

   216

        return;

   217

    }

   218

   219

    topology_change = (datagram->working_counter !=

   220

                       fsm->master_slaves_responding);

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    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);

   222

   223

    fsm->master_slave_states = EC_READ_U8(datagram->data);

   224

    fsm->master_slaves_responding = datagram->working_counter;

   225

   226

    if (topology_change) {

   227

        EC_INFO("%i slave%s responding.\n",

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                fsm->master_slaves_responding,

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

   230

   231

        if (master->mode == EC_MASTER_MODE_OPERATION) {

   232

            if (fsm->master_slaves_responding == master->slave_count) {

   233

                fsm->master_validation = 1; // start validation later

   234

            }

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            else {

   236

                EC_WARN("Invalid slave count. Bus in tainted state.\n");

   237

            }

   238

        }

   239

    }

   240

   241

    if (states_change) {

   242

        char states[EC_STATE_STRING_SIZE];

   243

        ec_state_string(fsm->master_slave_states, states);

   244

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

   245

    }

   246

   247

    // topology change in idle mode: clear all slaves and scan the bus

   248

    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {

   249

   250

        ec_master_eoe_stop(master);

   251

        ec_master_destroy_slaves(master);

   252

   253

        master->slave_count = datagram->working_counter;

   254

   255

        if (!master->slave_count) {

   256

            // no slaves present -> finish state machine.

   257

            fsm->master_state = ec_fsm_master_end;

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            return;

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        }

   260

   261

        // init slaves

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

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            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),

   264

                                                 GFP_ATOMIC))) {

   265

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

   266

                ec_master_destroy_slaves(master);

   267

                fsm->master_state = ec_fsm_master_error;

   268

                return;

   269

            }

   270

   271

            if (ec_slave_init(slave, master, i, i + 1)) {

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                // freeing of "slave" already done

   273

                ec_master_destroy_slaves(master);

   274

                fsm->master_state = ec_fsm_master_error;

   275

                return;

   276

            }

   277

   278

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

   279

                EC_ERR("Failed to add kobject.\n");

   280

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

   281

                ec_master_destroy_slaves(master);

   282

                fsm->master_state = ec_fsm_master_error;

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                return;

   284

            }

   285

   286

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

   287

        }

   288

   289

        EC_INFO("Scanning bus.\n");

   290

   291

        // begin scanning of slaves

   292

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

   293

        fsm->slave_state = ec_fsm_slavescan_start;

   294

        fsm->master_state = ec_fsm_master_scan_slaves;

   295

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

   296

        return;

   297

    }

   298

   299

    // fetch state from each slave

   300

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

   301

    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);

   302

    ec_master_queue_datagram(master, &fsm->datagram);

   303

    fsm->master_state = ec_fsm_master_read_states;

   304

}

   305

   306

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

   307

   308

/**

   309

   Master action: PROC_STATES.

   310

   Processes the slave states.

   311

*/

   312

   313

void ec_fsm_master_action_process_states(ec_fsm_t *fsm

   314

                                         /**< finite state machine */

   315

                                         )

   316

{

   317

    ec_master_t *master = fsm->master;

   318

    ec_slave_t *slave;

   319

    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];

   320

   321

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

   322

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

   323

        if (slave->error_flag

   324

            || !slave->online

   325

            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN

   326

            || (slave->current_state == slave->requested_state

   327

                && slave->configured)) continue;

   328

   329

        if (master->debug_level) {

   330

            ec_state_string(slave->current_state, old_state);

   331

            if (slave->current_state != slave->requested_state) {

   332

                ec_state_string(slave->requested_state, new_state);

   333

                EC_DBG("Changing state of slave %i (%s -> %s).\n",

   334

                       slave->ring_position, old_state, new_state);

   335

            }

   336

            else if (!slave->configured) {

   337

                EC_DBG("Reconfiguring slave %i (%s).\n",

   338

                       slave->ring_position, old_state);

   339

            }

   340

        }

   341

   342

        fsm->master_state = ec_fsm_master_configure_slave;

   343

        fsm->slave = slave;

   344

        fsm->slave_state = ec_fsm_slaveconf_state_start;

   345

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

   346

        return;

   347

    }

   348

   349

    // Check, if EoE processing has to be started

   350

    ec_master_eoe_start(master);

   351

   352

    if (master->mode == EC_MASTER_MODE_IDLE) {

   353

   354

        // Check for a pending SDO request

   355

        if (master->sdo_seq_master != master->sdo_seq_user) {

   356

            if (master->debug_level)

   357

                EC_DBG("Processing SDO request...\n");

   358

            slave = master->sdo_request->sdo->slave;

   359

            if (slave->current_state == EC_SLAVE_STATE_INIT

   360

                || !slave->online) {

   361

                EC_ERR("Failed to process SDO request, slave %i not ready.\n",

   362

                       slave->ring_position);

   363

                master->sdo_request->return_code = -1;

   364

                master->sdo_seq_master++;

   365

            }

   366

            else {

   367

                // start uploading SDO

   368

                fsm->slave = slave;

   369

                fsm->master_state = ec_fsm_master_sdo_request;

   370

                fsm->sdo_request = master->sdo_request;

   371

                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);

   372

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

   373

                return;

   374

            }

   375

        }

   376

   377

        // check, if slaves have an SDO dictionary to read out.

   378

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

   379

            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)

   380

                || slave->sdo_dictionary_fetched

   381

                || slave->current_state == EC_SLAVE_STATE_INIT

   382

                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ

   383

                || !slave->online

   384

                || slave->error_flag) continue;

   385

   386

            if (master->debug_level) {

   387

                EC_DBG("Fetching SDO dictionary from slave %i.\n",

   388

                       slave->ring_position);

   389

            }

   390

   391

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

   392

                EC_ERR("Failed to add SDO kobj of slave %i.\n",

   393

                       slave->ring_position);

   394

                slave->error_flag = 1;

   395

                fsm->master_state = ec_fsm_master_error;

   396

                return;

   397

            }

   398

   399

            slave->sdo_dictionary_fetched = 1;

   400

   401

            // start fetching SDO dictionary

   402

            fsm->slave = slave;

   403

            fsm->master_state = ec_fsm_master_sdodict;

   404

            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);

   405

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

   406

            return;

   407

        }

   408

   409

        // check for pending EEPROM write operations.

   410

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

   411

            if (!slave->new_eeprom_data) continue;

   412

   413

            if (!slave->online || slave->error_flag) {

   414

                kfree(slave->new_eeprom_data);

   415

                slave->new_eeprom_data = NULL;

   416

                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",

   417

                       slave->ring_position);

   418

                continue;

   419

            }

   420

   421

            // found pending EEPROM write operation. execute it!

   422

            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);

   423

            fsm->slave = slave;

   424

            fsm->sii_offset = 0x0000;

   425

            ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,

   426

                             slave->new_eeprom_data, EC_FSM_SII_NODE);

   427

            fsm->master_state = ec_fsm_master_write_eeprom;

   428

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

   429

            return;

   430

        }

   431

    }

   432

   433

    fsm->master_state = ec_fsm_master_end;

   434

}

   435

   436

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

   437

   438

/**

   439

   Master action: Get state of next slave.

   440

*/

   441

   442

void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm

   443

                                           /**< finite state machine */)

   444

{

   445

    ec_master_t *master = fsm->master;

   446

    ec_slave_t *slave = fsm->slave;

   447

   448

    // is there another slave to query?

   449

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

   450

        // process next slave

   451

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

   452

        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,

   453

                         0x0130, 2);

   454

        ec_master_queue_datagram(master, &fsm->datagram);

   455

        fsm->master_state = ec_fsm_master_read_states;

   456

        return;

   457

    }

   458

   459

    // all slave states read

   460

   461

    // check, if a bus validation has to be done

   462

    if (fsm->master_validation) {

   463

        fsm->master_validation = 0;

   464

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

   465

            if (slave->online) continue;

   466

   467

            // At least one slave is offline. validate!

   468

            EC_INFO("Validating bus.\n");

   469

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

   470

            fsm->master_state = ec_fsm_master_validate_vendor;

   471

            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);

   472

            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately

   473

            return;

   474

        }

   475

    }

   476

   477

    ec_fsm_master_action_process_states(fsm);

   478

}

   479

   480

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

   481

   482

/**

   483

   Master state: READ STATES.

   484

   Fetches the AL- and online state of a slave.

   485

*/

   486

   487

void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)

   488

{

   489

    ec_slave_t *slave = fsm->slave;

   490

    ec_datagram_t *datagram = &fsm->datagram;

   491

    uint8_t new_state;