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

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 *

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 *  $Id$

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 *

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 *  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.

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 *

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

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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    27

/** \file

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 *

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 * EtherCAT slave configuration state machine.

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 */

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

    33

    34

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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#include "fsm_slave_config.h"

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

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void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);

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

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    72

/** Constructor.

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 */

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void ec_fsm_slave_config_init(

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        ec_fsm_slave_config_t *fsm, /**< slave state machine */

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        ec_datagram_t *datagram, /**< datagram structure to use */

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        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */

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        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */

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        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */

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        )

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{

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    ec_sdo_request_init(&fsm->request_copy);

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    fsm->datagram = datagram;

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    fsm->fsm_change = fsm_change;

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    fsm->fsm_coe = fsm_coe;

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    fsm->fsm_pdo = fsm_pdo;

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}

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

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    92

/** Destructor.

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 */

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void ec_fsm_slave_config_clear(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_sdo_request_clear(&fsm->request_copy);

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}

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

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/** Start slave configuration state machine.

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 */

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void ec_fsm_slave_config_start(

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        ec_fsm_slave_config_t *fsm, /**< slave state machine */

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        ec_slave_t *slave /**< slave to configure */

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        )

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{

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    fsm->slave = slave;

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    fsm->state = ec_fsm_slave_config_state_start;

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}

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

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   116

/**

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_slave_config_running(

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        const ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    return fsm->state != ec_fsm_slave_config_state_end

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        && fsm->state != ec_fsm_slave_config_state_error;

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}

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

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   129

/** 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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 *

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_slave_config_exec(

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        ec_fsm_slave_config_t *fsm /**< slave 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 ec_fsm_slave_config_running(fsm);

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    }

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    fsm->state(fsm);

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    return ec_fsm_slave_config_running(fsm);

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}

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

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/**

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 * \return true, if the state machine terminated gracefully

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 */

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int ec_fsm_slave_config_success(

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        const ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    return fsm->state == ec_fsm_slave_config_state_end;

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}

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   162

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

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 * Slave configuration state machine

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

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   166

/** Slave configuration state: START.

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 */

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void ec_fsm_slave_config_state_start(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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

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        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);

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    }

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    ec_fsm_slave_config_enter_init(fsm);

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}

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

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   181

/** Start state change to INIT.

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 */

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void ec_fsm_slave_config_enter_init(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

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    ec_fsm_change_exec(fsm->fsm_change);

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    fsm->state = ec_fsm_slave_config_state_init;

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}

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

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   194

/** Slave configuration state: INIT.

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 */

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void ec_fsm_slave_config_state_init(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_master_t *master = fsm->slave->master;

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    ec_slave_t *slave = fsm->slave;

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    ec_datagram_t *datagram = fsm->datagram;

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    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   205

   206

    if (!ec_fsm_change_success(fsm->fsm_change)) {

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        if (!fsm->fsm_change->spontaneous_change)

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            slave->error_flag = 1;

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        fsm->state = ec_fsm_slave_config_state_error;

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        return;

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    }

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    if (master->debug_level) {

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        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);

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    }

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    if (!slave->base_fmmu_count) { // skip FMMU configuration

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        return;

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    }

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    if (master->debug_level)

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        EC_DBG("Clearing FMMU configurations of slave %u...\n",

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               slave->ring_position);

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    // clear FMMU configurations

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    ec_datagram_fpwr(datagram, slave->station_address,

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            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

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    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_slave_config_state_clear_fmmus;

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}

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

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/** Slave configuration state: CLEAR FMMU.

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 */

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void ec_fsm_slave_config_state_clear_fmmus(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_datagram_t *datagram = fsm->datagram;

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

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        return;

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   247

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_slave_config_state_error;

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        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",

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               fsm->slave->ring_position);

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        return;

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    }

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   254

    if (datagram->working_counter != 1) {

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        fsm->slave->error_flag = 1;

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        fsm->state = ec_fsm_slave_config_state_error;

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        EC_ERR("Failed to clear FMMUs of slave %u: ",

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               fsm->slave->ring_position);

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        ec_datagram_print_wc_error(datagram);

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        return;

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    }

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    ec_fsm_slave_config_enter_mbox_sync(fsm);

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}

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

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   327

/** Check for mailbox sync managers to be configured.

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 */

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void ec_fsm_slave_config_enter_mbox_sync(

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        ec_fsm_slave_config_t *fsm /**< slave state machine */

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        )

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{

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    ec_master_t *master = fsm->slave->master;

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    ec_slave_t *slave = fsm->slave;

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    ec_datagram_t *datagram = fsm->datagram;

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    unsigned int i;

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   338

    // slave is now in INIT

   339

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

   340

        fsm->state = ec_fsm_slave_config_state_end; // successful

   341

        if (master->debug_level) {

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            EC_DBG("Finished configuration of slave %u.\n",

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                   slave->ring_position);

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        }

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        return;

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    }

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    if (!slave->sii.mailbox_protocols) {

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        // no mailbox protocols supported

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        if (master->debug_level)

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            EC_DBG("Slave %u does not support mailbox communication.\n",

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                    slave->ring_position);

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        ec_fsm_slave_config_enter_boot_preop(fsm);

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        return;

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    }

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   357

    if (master->debug_level) {

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        EC_DBG("Configuring mailbox sync managers of slave %u.\n",

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               slave->ring_position);

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    }

   361

   362

    if (slave->requested_state == EC_SLAVE_STATE_BOOT) {

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        ec_sync_t sync;

   364

   365

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

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                EC_SYNC_PAGE_SIZE * 2);

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        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);

   368

   369

        ec_sync_init(&sync, slave);

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        sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;

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        sync.control_register = 0x26;

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        sync.enable = 1;

   373

        ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,

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                EC_DIR_INVALID, // use default direction

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                datagram->data);

   376

   377

        ec_sync_init(&sync, slave);

   378

        sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;

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        sync.control_register = 0x22;

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        sync.enable = 1;

   381

        ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,

   382

                EC_DIR_INVALID, // use default direction

   383

                datagram->data + EC_SYNC_PAGE_SIZE);

   384

    } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided

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        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

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                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

   387

        memset(datagram->data, 0x00,

   388

                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

   389

   390

        for (i = 0; i < 2; i++) {

   391

            ec_sync_page(&slave->sii.syncs[i], i,

   392

                    slave->sii.syncs[i].default_length,

   393

                    EC_DIR_INVALID, // use default direction

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                    datagram->data + EC_SYNC_PAGE_SIZE * i);

   395

        }

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    } else { // no mailbox sync manager configurations provided

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        ec_sync_t sync;

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        if (master->debug_level)

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            EC_DBG("Slave %u does not provide"

   401

                    " mailbox sync manager configurations.\n",

   402

                    slave->ring_position);

   403

   404

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   405

                EC_SYNC_PAGE_SIZE * 2);

   406

        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);

   407

   408

        ec_sync_init(&sync, slave);

   409

        sync.physical_start_address = slave->sii.std_rx_mailbox_offset;

   410

        sync.control_register = 0x26;

   411

        sync.enable = 1;

   412

        ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,

   413

                EC_DIR_INVALID, // use default direction

   414

                datagram->data);

   415

   416

        ec_sync_init(&sync, slave);

   417

        sync.physical_start_address = slave->sii.std_tx_mailbox_offset;

   418

        sync.control_register = 0x22;

   419

        sync.enable = 1;

   420

        ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,

   421

                EC_DIR_INVALID, // use default direction

   422

                datagram->data + EC_SYNC_PAGE_SIZE);

   423

    }

   424

   425

    fsm->retries = EC_FSM_RETRIES;

   426

    fsm->state = ec_fsm_slave_config_state_mbox_sync;

   427

}

   428

   429

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

   430

   431

/** Slave configuration state: SYNC.

   432

 */

   433

void ec_fsm_slave_config_state_mbox_sync(

   434

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   435

        )

   436

{

   437

    ec_datagram_t *datagram = fsm->datagram;

   438

    ec_slave_t *slave = fsm->slave;

   439

   440

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

   441

        return;

   442

   443

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   444

        fsm->state = ec_fsm_slave_config_state_error;

   445

        EC_ERR("Failed to receive sync manager configuration datagram for"

   446

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

   447

               slave->ring_position, datagram->state);

   448

        return;

   449

    }

   450

   451

    if (datagram->working_counter != 1) {

   452

        slave->error_flag = 1;

   453

        fsm->state = ec_fsm_slave_config_state_error;

   454

        EC_ERR("Failed to set sync managers of slave %u: ",

   455

               slave->ring_position);

   456

        ec_datagram_print_wc_error(datagram);

   457

        return;

   458

    }

   459

   460

    ec_fsm_slave_config_enter_boot_preop(fsm);

   461

}

   462

   463

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

   464

   465

/** Request PREOP state.

   466

 */

   467

void ec_fsm_slave_config_enter_boot_preop(

   468

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   469

        )

   470

{

   471

    fsm->state = ec_fsm_slave_config_state_boot_preop;

   472

   473

    if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {

   474

        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);

   475

    } else { // BOOT

   476

        ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);

   477

    }

   478

   479

    ec_fsm_change_exec(fsm->fsm_change); // execute immediately

   480

}

   481

   482

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

   483

   484

/** Slave configuration state: BOOT/PREOP.

   485

 */

   486

void ec_fsm_slave_config_state_boot_preop(

   487

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   488

        )

   489

{

   490

    ec_slave_t *slave = fsm->slave;

   491

    ec_master_t *master = fsm->slave->master;

   492

   493

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   494

   495

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   496

        if (!fsm->fsm_change->spontaneous_change)

   497

            slave->error_flag = 1;

   498

        fsm->state = ec_fsm_slave_config_state_error;

   499

        return;

   500

    }

   501

   502

    // slave is now in BOOT/PREOP

   503

    slave->jiffies_preop = fsm->datagram->jiffies_received;

   504

   505

    if (master->debug_level) {