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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

    22

 *  ---

    23

 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

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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

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#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

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

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 */

    51

#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);

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    87

    // init sub-state-machines

    88

    ec_fsm_coe_init(&fsm->fsm_coe);

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    ec_fsm_soe_init(&fsm->fsm_soe);

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

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

    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(

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        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);

   112

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    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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   117

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

   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;

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   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;

   134

        fsm->slaves_responding[dev_idx] = 0;

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        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

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    }

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   138

    fsm->rescan_required = 0;

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}

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   141

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

   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

   149

 */

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int ec_fsm_master_exec(

   151

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

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        )

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{

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

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

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        // datagram was not sent or received yet.

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        return 0;

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    }

   159

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    fsm->state(fsm);

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    return 1;

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}

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   164

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

   165

   166

/**

   167

 * \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

{

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    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

 *

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 * 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;

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    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;

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    ec_slave_t *slave;

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    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],

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                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;

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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]);

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   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

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        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;

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            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];

   261

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

   262

            ec_state_string(states, state_str, 1);

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            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 {

   267

        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) {

   279

        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

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            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

            master->fsm_slave = master->slaves;

   346

   347

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

   348

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

   349

            fsm->dev_idx = EC_DEVICE_MAIN;

   350

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

   351

                fsm->dev_idx++;

   352

            }

   353

   354

            ec_fsm_master_enter_clear_addresses(fsm);

   355

            return;

   356

        }

   357

    }

   358

   359

    if (master->slave_count) {

   360

   361

        // application applied configurations

   362

        if (master->config_changed) {

   363

            master->config_changed = 0;

   364

   365

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

   366

   367

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

   368

            ec_fsm_master_enter_write_system_times(fsm);

   369

   370

        } else {

   371

            // fetch state from first slave

   372

            fsm->slave = master->slaves;

   373

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

   374

                    0x0130, 2);

   375

            ec_datagram_zero(datagram);

   376

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

   377

            fsm->retries = EC_FSM_RETRIES;

   378

            fsm->state = ec_fsm_master_state_read_state;

   379

        }

   380

    } else {

   381

        ec_fsm_master_restart(fsm);

   382

    }

   383

}

   384

   385

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

   386

   387

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

   388

 *

   389

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

   390

 */

   391

int ec_fsm_master_action_process_sii(

   392

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

   393

        )

   394

{

   395

    ec_master_t *master = fsm->master;

   396

    ec_sii_write_request_t *request;

   397

   398

    // search the first request to be processed

   399

    while (1) {

   400

        if (list_empty(&master->sii_requests))

   401

            break;

   402

   403

        // get first request

   404

        request = list_entry(master->sii_requests.next,

   405

                ec_sii_write_request_t, list);

   406

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

   407

        request->state = EC_INT_REQUEST_BUSY;

   408

   409

        // found pending SII write operation. execute it!

   410

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

   411

        fsm->sii_request = request;

   412

        fsm->sii_index = 0;

   413

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

   414

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   415

        fsm->state = ec_fsm_master_state_write_sii;

   416

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

   417

        return 1;

   418

    }

   419

   420

    return 0;

   421

}

   422

   423

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

   424

   425

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

   426

 *

   427

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

   428

 */

   429

int ec_fsm_master_action_process_sdo(

   430

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

   431

        )

   432

{

   433

    ec_master_t *master = fsm->master;

   434

    ec_slave_t *slave;

   435

    ec_sdo_request_t *req;

   436

   437

    // search for internal requests to be processed

   438

    for (slave = master->slaves;

   439

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

   440

            slave++) {

   441

   442

        if (!slave->config) {

   443

            continue;

   444

        }

   445

   446

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

   447

            if (req->state == EC_INT_REQUEST_QUEUED) {

   448

   449

                if (ec_sdo_request_timed_out(req)) {

   450

                    req->state = EC_INT_REQUEST_FAILURE;

   451

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   452

                            " timed out.\n");

   453

                    continue;

   454

                }

   455

   456

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   457

                    req->state = EC_INT_REQUEST_FAILURE;

   458

                    continue;

   459

                }

   460

   461

                req->state = EC_INT_REQUEST_BUSY;

   462

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   463

                        " SDO request...\n");

   464

                fsm->idle = 0;

   465

                fsm->sdo_request = req;

   466

                fsm->slave = slave;

   467

                fsm->state = ec_fsm_master_state_sdo_request;

   468

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

   469

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

   470

                return 1;

   471

            }

   472

        }

   473

    }

   474

    return 0;

   475

}

   476

   477

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

   478

   479

/** Master action: IDLE.

   480

 *

   481

 * Does secondary work.

   482

 */

   483

void ec_fsm_master_action_idle(

   484

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