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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

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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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 *

    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

 *

    24

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

    25

 *  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"

    37

#include "master.h"

    38

#include "mailbox.h"

    39

#include "slave_config.h"

    40

#ifdef EC_EOE

    41

#include "ethernet.h"

    42

#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.

    50

 */

    51

#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000

    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 *);

    59

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 *);

    62

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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void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

    69

    70

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    71

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

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    73

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

    74

    75

/** Constructor.

    76

 */

    77

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. */

    80

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

    81

        )

    82

{

    83

    ec_device_index_t dev_idx;

    84

    85

    fsm->master = master;

    86

    fsm->datagram = datagram;

    87

    fsm->state = ec_fsm_master_state_start;

    88

    fsm->idle = 0;

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    fsm->dev_idx = EC_DEVICE_MAIN;

    90

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES; dev_idx++) {

    91

        fsm->link_state[dev_idx] = 0;

    92

        fsm->slaves_responding[dev_idx] = 0;

    93

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

    94

    }

    95

    fsm->rescan_required = 0;

    96

    97

    // init sub-state-machines

    98

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

    99

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

   100

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

   101

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

   102

            &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);

   106

}

   107

   108

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

   109

   110

/** Destructor.

   111

 */

   112

void ec_fsm_master_clear(

   113

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

   114

        )

   115

{

   116

    // clear sub-state machines

   117

    ec_fsm_coe_clear(&fsm->fsm_coe);

   118

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   119

    ec_fsm_change_clear(&fsm->fsm_change);

   120

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   121

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   122

    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   125

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

   126

   127

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

   128

 *

   129

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

   130

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

   131

 *

   132

 * \return true, if the state machine was executed

   133

 */

   134

int ec_fsm_master_exec(

   135

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

   136

        )

   137

{

   138

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

   139

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

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        // datagram was not sent or received yet.

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        return 0;

   142

    }

   143

   144

    fsm->state(fsm);

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    return 1;

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}

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   148

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

   149

   150

/**

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

   152

 */

   153

int ec_fsm_master_idle(

   154

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

   155

        )

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{

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    return fsm->idle;

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}

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   160

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

   161

   162

/** Restarts the master state machine.

   163

 */

   164

void ec_fsm_master_restart(

   165

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

   166

        )

   167

{

   168

    fsm->dev_idx = EC_DEVICE_MAIN;

   169

    fsm->state = ec_fsm_master_state_start;

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

   171

}

   172

   173

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

   174

 * Master state machine

   175

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

   176

   177

/** Master state: START.

   178

 *

   179

 * Starts with getting slave count and slave states.

   180

 */

   181

void ec_fsm_master_state_start(

   182

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

   183

        )

   184

{

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    fsm->idle = 1;

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

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    ec_datagram_zero(fsm->datagram);

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

   189

    fsm->state = ec_fsm_master_state_broadcast;

   190

}

   191

   192

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

   193

   194

/** Master state: BROADCAST.

   195

 *

   196

 * Processes the broadcast read slave count and slaves states.

   197

 */

   198

void ec_fsm_master_state_broadcast(

   199

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

   200

        )

   201

{

   202

    ec_datagram_t *datagram = fsm->datagram;

   203

    unsigned int i, size;

   204

    ec_slave_t *slave;

   205

    ec_master_t *master = fsm->master;

   206

   207

    // bus topology change?

   208

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

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        fsm->rescan_required = 1;

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

   211

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

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                fsm->slaves_responding[fsm->dev_idx],

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                ec_device_names[fsm->dev_idx]);

   214

    }

   215

   216

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

   217

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

   218

        ec_device_index_t dev_idx;

   219

   220

        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]);

   223

   224

#ifdef EC_EOE

   225

        ec_master_eoe_stop(master);

   226

        ec_master_clear_eoe_handlers(master);

   227

#endif

   228

        ec_master_clear_slaves(master);

   229

   230

        for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES; dev_idx++) {

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            fsm->slave_states[dev_idx] = 0x00;

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

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                                                    next link up. */

   234

        }

   235

    }

   236

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

   237

   238

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   239

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

   240

        uint8_t states = EC_READ_U8(datagram->data);

   241

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

   242

            // slave states changed

   243

            char state_str[EC_STATE_STRING_SIZE];

   244

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

   245

            ec_state_string(states, state_str, 1);

   246

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

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                    ec_device_names[fsm->dev_idx], state_str);

   248

        }

   249

    } else {

   250

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

   251

    }

   252

   253

    fsm->dev_idx++;

   254

    if (fsm->dev_idx < EC_NUM_DEVICES) {

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        // check number of responding slaves on next device

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        fsm->state = ec_fsm_master_state_start;

   257

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

   258

        return;

   259

    }

   260

   261

    if (fsm->rescan_required) {

   262

        down(&master->scan_sem);

   263

        if (!master->allow_scan) {

   264

            up(&master->scan_sem);

   265

        } else {

   266

            unsigned int count = 0, next_dev_slave, ring_position;

   267

            ec_device_index_t dev_idx;

   268

   269

            master->scan_busy = 1;

   270

            up(&master->scan_sem);

   271

   272

            // clear all slaves and scan the bus

   273

            fsm->rescan_required = 0;

   274

            fsm->idle = 0;

   275

            fsm->scan_jiffies = jiffies;

   276

   277

#ifdef EC_EOE

   278

            ec_master_eoe_stop(master);

   279

            ec_master_clear_eoe_handlers(master);

   280

#endif

   281

            ec_master_clear_slaves(master);

   282

   283

            for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES;

   284

                    dev_idx++) {

   285

                count += fsm->slaves_responding[dev_idx];

   286

            }

   287

   288

            if (!count) {

   289

                // no slaves present -> finish state machine.

   290

                master->scan_busy = 0;

   291

                wake_up_interruptible(&master->scan_queue);

   292

                ec_fsm_master_restart(fsm);

   293

                return;

   294

            }

   295

   296

            size = sizeof(ec_slave_t) * count;

   297

            if (!(master->slaves =

   298

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

   299

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

   300

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

   301

                master->scan_busy = 0;

   302

                wake_up_interruptible(&master->scan_queue);

   303

                ec_fsm_master_restart(fsm);

   304

                return;

   305

            }

   306

   307

            // init slaves

   308

            dev_idx = EC_DEVICE_MAIN;

   309

            next_dev_slave = fsm->slaves_responding[dev_idx];

   310

            ring_position = 0;

   311

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

   312

                slave = master->slaves + i;

   313

                while (i >= next_dev_slave) {

   314

                    dev_idx++;

   315

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   316

                    ring_position = 0;

   317

                }

   318

   319

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

   320

   321

                // do not force reconfiguration in operation phase to avoid

   322

                // unnecesssary process data interruptions

   323

                if (master->phase != EC_OPERATION) {

   324

                    slave->force_config = 1;

   325

                }

   326

            }

   327

            master->slave_count = count;

   328

   329

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

   330

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

   331

            fsm->dev_idx = EC_DEVICE_MAIN;

   332

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

   333

                fsm->dev_idx++;

   334

            }

   335

   336

            ec_fsm_master_enter_clear_addresses(fsm);

   337

            return;

   338

        }

   339

    }

   340

   341

    if (master->slave_count) {

   342

   343

        // application applied configurations

   344

        if (master->config_changed) {

   345

            master->config_changed = 0;

   346

   347

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

   348

   349

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

   350

            ec_fsm_master_enter_write_system_times(fsm);

   351

   352

        } else {

   353

            // fetch state from first slave

   354

            fsm->slave = master->slaves;

   355

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

   356

                    0x0130, 2);

   357

            ec_datagram_zero(datagram);

   358

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

   359

            fsm->retries = EC_FSM_RETRIES;

   360

            fsm->state = ec_fsm_master_state_read_state;

   361

        }

   362

    } else {

   363

        ec_fsm_master_restart(fsm);

   364

    }

   365

}

   366

   367

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

   368

   369

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

   370

 *

   371

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

   372

 */

   373

int ec_fsm_master_action_process_sii(

   374

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

   375

        )

   376

{

   377

    ec_master_t *master = fsm->master;

   378

    ec_sii_write_request_t *request;

   379

   380

    // search the first request to be processed

   381

    while (1) {

   382

        if (list_empty(&master->sii_requests))

   383

            break;

   384

   385

        // get first request

   386

        request = list_entry(master->sii_requests.next,

   387

                ec_sii_write_request_t, list);

   388

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

   389

        request->state = EC_INT_REQUEST_BUSY;

   390

   391

        // found pending SII write operation. execute it!

   392

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

   393

        fsm->sii_request = request;

   394

        fsm->sii_index = 0;

   395

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

   396

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   397

        fsm->state = ec_fsm_master_state_write_sii;

   398

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

   399

        return 1;

   400

    }

   401

   402

    return 0;

   403

}

   404

   405

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

   406

   407

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

   408

 *

   409

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

   410

 */

   411

int ec_fsm_master_action_process_register(

   412

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

   413

        )

   414

{

   415

    ec_master_t *master = fsm->master;

   416

    ec_reg_request_t *request;

   417

   418

    // search the first request to be processed

   419

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

   420

   421

        // get first request

   422

        request = list_entry(master->reg_requests.next,

   423

                ec_reg_request_t, list);

   424

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

   425

        request->state = EC_INT_REQUEST_BUSY;

   426

   427

        // found pending request; process it!

   428

        EC_SLAVE_DBG(request->slave, 1, "Processing register request, "

   429

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

   430

                request->offset, request->length);

   431

   432

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

   433

            EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum "

   434

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

   435

                    fsm->datagram->mem_size);

   436

            request->state = EC_INT_REQUEST_FAILURE;

   437

            wake_up(&master->reg_queue);

   438

            continue;

   439

        }

   440

   441

        fsm->reg_request = request;

   442

   443

        if (request->dir == EC_DIR_INPUT) {

   444

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

   445

                    request->offset, request->length);

   446

            ec_datagram_zero(fsm->datagram);

   447

        } else {

   448

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

   449

                    request->offset, request->length);

   450

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

   451

        }

   452

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

   453

        fsm->retries = EC_FSM_RETRIES;

   454

        fsm->state = ec_fsm_master_state_reg_request;

   455

        return 1;

   456

    }

   457

   458

    return 0;

   459

}

   460

   461

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

   462

   463

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

   464

 *

   465

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

   466

 */

   467

int ec_fsm_master_action_process_sdo(

   468

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

   469

        )

   470

{

   471

    ec_master_t *master = fsm->master;

   472

    ec_slave_t *slave;

   473

    ec_sdo_request_t *req;

   474

   475

    // search for internal requests to be processed

   476

    for (slave = master->slaves;

   477

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

   478

            slave++) {

   479

        if (!slave->config)

   480

            continue;

   481

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

   482

            if (req->state == EC_INT_REQUEST_QUEUED) {

   483

   484

                if (ec_sdo_request_timed_out(req)) {

   485

                    req->state = EC_INT_REQUEST_FAILURE;