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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  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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 *

    18

 *  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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 *

    28

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

    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"

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#ifdef EC_EOE

    41

#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

/** Time difference [ns] to tolerate without setting a new system time offset.

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 */

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#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000

    52

    53

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

    54

    55

void ec_fsm_master_state_start(ec_fsm_master_t *);

    56

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    57

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_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_dc_read_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_write_offset(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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    69

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    70

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

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. */

    80

        )

    81

{

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    fsm->master = master;

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    fsm->datagram = datagram;

    84

    85

    ec_fsm_master_reset(fsm);

    86

    87

    // init sub-state-machines

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

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    ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);

    90

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

    91

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

    92

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

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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &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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    99

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

   100

   101

/** Destructor.

   102

 */

   103

void ec_fsm_master_clear(

   104

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

   105

        )

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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_soe_clear(&fsm->fsm_soe);

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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);

   113

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

   118

   119

/** Reset state machine.

   120

 */

   121

void ec_fsm_master_reset(

   122

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

   123

        )

   124

{

   125

    ec_device_index_t dev_idx;

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   127

    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->dev_idx = EC_DEVICE_MAIN;

   130

   131

    for (dev_idx = EC_DEVICE_MAIN;

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            dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {

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        fsm->link_state[dev_idx] = 0;

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        fsm->slaves_responding[dev_idx] = 0;

   135

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

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    }

   137

   138

    fsm->rescan_required = 0;

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}

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

   142

   143

/** 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 true, if the state machine was executed

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 */

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int ec_fsm_master_exec(

   151

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

   152

        )

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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;

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    }

   159

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    fsm->state(fsm);

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    return 1;

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}

   163

   164

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

   165

   166

/**

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

   168

 */

   169

int ec_fsm_master_idle(

   170

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

   171

        )

   172

{

   173

    return fsm->idle;

   174

}

   175

   176

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

   177

   178

/** Restarts the master state machine.

   179

 */

   180

void ec_fsm_master_restart(

   181

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

   182

        )

   183

{

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    fsm->dev_idx = EC_DEVICE_MAIN;

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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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   189

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

   190

 * Master state machine

   191

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

   192

   193

/** Master state: START.

   194

 *

   195

 * Starts with getting slave count and slave states.

   196

 */

   197

void ec_fsm_master_state_start(

   198

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

   199

        )

   200

{

   201

    fsm->idle = 1;

   202

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

   203

    ec_datagram_zero(fsm->datagram);

   204

    fsm->datagram->device_index = fsm->dev_idx;

   205

    fsm->state = ec_fsm_master_state_broadcast;

   206

}

   207

   208

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

   209

   210

/** Master state: BROADCAST.

   211

 *

   212

 * Processes the broadcast read slave count and slaves states.

   213

 */

   214

void ec_fsm_master_state_broadcast(

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

   216

        )

   217

{

   218

    ec_datagram_t *datagram = fsm->datagram;

   219

    unsigned int i, size;

   220

    ec_slave_t *slave;

   221

    ec_master_t *master = fsm->master;

   222

   223

    // bus topology change?

   224

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

   225

        fsm->rescan_required = 1;

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        fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;

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        EC_MASTER_INFO(master, "%u slave(s) responding on %s device.\n",

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                fsm->slaves_responding[fsm->dev_idx],

   229

                ec_device_names[fsm->dev_idx != 0]);

   230

    }

   231

   232

    if (fsm->link_state[fsm->dev_idx] &&

   233

            !master->devices[fsm->dev_idx].link_state) {

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        ec_device_index_t dev_idx;

   235

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        EC_MASTER_DBG(master, 1, "Master state machine detected "

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                "link down on %s device. Clearing slave list.\n",

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                ec_device_names[fsm->dev_idx != 0]);

   239

   240

#ifdef EC_EOE

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        ec_master_eoe_stop(master);

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        ec_master_clear_eoe_handlers(master);

   243

#endif

   244

        ec_master_clear_slaves(master);

   245

   246

        for (dev_idx = EC_DEVICE_MAIN;

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                dev_idx < ec_master_num_devices(master); dev_idx++) {

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            fsm->slave_states[dev_idx] = 0x00;

   249

            fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on

   250

                                                    next link up. */

   251

        }

   252

    }

   253

    fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;

   254

   255

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

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            fsm->slaves_responding[fsm->dev_idx]) {

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        uint8_t states = EC_READ_U8(datagram->data);

   258

        if (states != fsm->slave_states[fsm->dev_idx]) {

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            // slave states changed

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            char state_str[EC_STATE_STRING_SIZE];

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            fsm->slave_states[fsm->dev_idx] = states;

   262

            ec_state_string(states, state_str, 1);

   263

            EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",

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                    ec_device_names[fsm->dev_idx != 0], state_str);

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        }

   266

    } else {

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        fsm->slave_states[fsm->dev_idx] = 0x00;

   268

    }

   269

   270

    fsm->dev_idx++;

   271

    if (fsm->dev_idx < ec_master_num_devices(master)) {

   272

        // check number of responding slaves on next device

   273

        fsm->state = ec_fsm_master_state_start;

   274

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

   275

        return;

   276

    }

   277

   278

    if (fsm->rescan_required) {

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        down(&master->scan_sem);

   280

        if (!master->allow_scan) {

   281

            up(&master->scan_sem);

   282

        } else {

   283

            unsigned int count = 0, next_dev_slave, ring_position;

   284

            ec_device_index_t dev_idx;

   285

   286

            master->scan_busy = 1;

   287

            up(&master->scan_sem);

   288

   289

            // clear all slaves and scan the bus

   290

            fsm->rescan_required = 0;

   291

            fsm->idle = 0;

   292

            fsm->scan_jiffies = jiffies;

   293

   294

#ifdef EC_EOE

   295

            ec_master_eoe_stop(master);

   296

            ec_master_clear_eoe_handlers(master);

   297

#endif

   298

            ec_master_clear_slaves(master);

   299

   300

            for (dev_idx = EC_DEVICE_MAIN;

   301

                    dev_idx < ec_master_num_devices(master); dev_idx++) {

   302

                count += fsm->slaves_responding[dev_idx];

   303

            }

   304

   305

            if (!count) {

   306

                // no slaves present -> finish state machine.

   307

                master->scan_busy = 0;

   308

                wake_up_interruptible(&master->scan_queue);

   309

                ec_fsm_master_restart(fsm);

   310

                return;

   311

            }

   312

   313

            size = sizeof(ec_slave_t) * count;

   314

            if (!(master->slaves =

   315

                        (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   316

                EC_MASTER_ERR(master, "Failed to allocate %u bytes"

   317

                        " of slave memory!\n", size);

   318

                master->scan_busy = 0;

   319

                wake_up_interruptible(&master->scan_queue);

   320

                ec_fsm_master_restart(fsm);

   321

                return;

   322

            }

   323

   324

            // init slaves

   325

            dev_idx = EC_DEVICE_MAIN;

   326

            next_dev_slave = fsm->slaves_responding[dev_idx];

   327

            ring_position = 0;

   328

            for (i = 0; i < count; i++, ring_position++) {

   329

                slave = master->slaves + i;

   330

                while (i >= next_dev_slave) {

   331

                    dev_idx++;

   332

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   333

                    ring_position = 0;

   334

                }

   335

   336

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

   337

   338

                // do not force reconfiguration in operation phase to avoid

   339

                // unnecesssary process data interruptions

   340

                if (master->phase != EC_OPERATION) {

   341

                    slave->force_config = 1;

   342

                }

   343

            }

   344

            master->slave_count = count;

   345

   346

            /* start with first device with slaves responding; at least one

   347

             * has responding slaves, otherwise count would be zero. */

   348

            fsm->dev_idx = EC_DEVICE_MAIN;

   349

            while (!fsm->slaves_responding[fsm->dev_idx]) {

   350

                fsm->dev_idx++;

   351

            }

   352

   353

            ec_fsm_master_enter_clear_addresses(fsm);

   354

            return;

   355

        }

   356

    }

   357

   358

    if (master->slave_count) {

   359

   360

        // application applied configurations

   361

        if (master->config_changed) {

   362

            master->config_changed = 0;

   363

   364

            EC_MASTER_DBG(master, 1, "Configuration changed.\n");

   365

   366

            fsm->slave = master->slaves; // begin with first slave

   367

            ec_fsm_master_enter_write_system_times(fsm);

   368

   369

        } else {

   370

            // fetch state from first slave

   371

            fsm->slave = master->slaves;

   372

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

   373

                    0x0130, 2);

   374

            ec_datagram_zero(datagram);

   375

            fsm->datagram->device_index = fsm->slave->device_index;

   376

            fsm->retries = EC_FSM_RETRIES;

   377

            fsm->state = ec_fsm_master_state_read_state;

   378

        }

   379

    } else {

   380

        ec_fsm_master_restart(fsm);

   381

    }

   382

}

   383

   384

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

   385

   386

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

   387

 *

   388

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

   389

 */

   390

int ec_fsm_master_action_process_sii(

   391

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

   392

        )

   393

{

   394

    ec_master_t *master = fsm->master;

   395

    ec_sii_write_request_t *request;

   396

   397

    // search the first request to be processed

   398

    while (1) {

   399

        if (list_empty(&master->sii_requests))

   400

            break;

   401

   402

        // get first request

   403

        request = list_entry(master->sii_requests.next,

   404

                ec_sii_write_request_t, list);

   405

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

   406

        request->state = EC_INT_REQUEST_BUSY;

   407

   408

        // found pending SII write operation. execute it!

   409

        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");

   410

        fsm->sii_request = request;

   411

        fsm->sii_index = 0;

   412

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

   413

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   414

        fsm->state = ec_fsm_master_state_write_sii;

   415

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

   416

        return 1;

   417

    }

   418

   419

    return 0;

   420

}

   421

   422

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

   423

   424

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

   425

 *

   426

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

   427

 */

   428

int ec_fsm_master_action_process_sdo(

   429

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

   430

        )

   431

{

   432

    ec_master_t *master = fsm->master;

   433

    ec_slave_t *slave;

   434

    ec_sdo_request_t *req;

   435

   436

    // search for internal requests to be processed

   437

    for (slave = master->slaves;

   438

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

   439

            slave++) {

   440

   441

        if (!slave->config) {

   442

            continue;

   443

        }

   444

   445

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

   446

            if (req->state == EC_INT_REQUEST_QUEUED) {

   447

   448

                if (ec_sdo_request_timed_out(req)) {

   449

                    req->state = EC_INT_REQUEST_FAILURE;

   450

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   451

                            " timed out.\n");

   452

                    continue;

   453

                }

   454

   455

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   456

                    req->state = EC_INT_REQUEST_FAILURE;

   457

                    continue;

   458

                }

   459

   460

                req->state = EC_INT_REQUEST_BUSY;

   461

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   462

                        " SDO request...\n");

   463

                fsm->idle = 0;

   464

                fsm->sdo_request = req;

   465

                fsm->slave = slave;

   466

                fsm->state = ec_fsm_master_state_sdo_request;

   467

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

   468

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

   469

                return 1;

   470

            }

   471

        }

   472

    }

   473

    return 0;

   474

}

   475

   476

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

   477

   478

/** Master action: IDLE.

   479

 *

   480

 * Does secondary work.

   481

 */

   482

void ec_fsm_master_action_idle(

   483

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

   484

        )

   485