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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT finite state machines.

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*/

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

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#include "globals.h"

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#include "fsm.h"

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#include "master.h"

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#include "mailbox.h"

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

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    48

void ec_fsm_master_start(ec_fsm_t *);

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void ec_fsm_master_broadcast(ec_fsm_t *);

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void ec_fsm_master_read_states(ec_fsm_t *);

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void ec_fsm_master_validate_vendor(ec_fsm_t *);

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void ec_fsm_master_validate_product(ec_fsm_t *);

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void ec_fsm_master_rewrite_addresses(ec_fsm_t *);

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void ec_fsm_master_configure_slave(ec_fsm_t *);

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void ec_fsm_master_scan_slaves(ec_fsm_t *);

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void ec_fsm_master_write_eeprom(ec_fsm_t *);

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void ec_fsm_master_sdodict(ec_fsm_t *);

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void ec_fsm_master_sdo_request(ec_fsm_t *);

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void ec_fsm_startup_start(ec_fsm_t *);

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void ec_fsm_startup_broadcast(ec_fsm_t *);

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void ec_fsm_startup_scan(ec_fsm_t *);

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void ec_fsm_configuration_start(ec_fsm_t *);

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void ec_fsm_configuration_conf(ec_fsm_t *);

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    67

void ec_fsm_slavescan_start(ec_fsm_t *);

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void ec_fsm_slavescan_address(ec_fsm_t *);

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void ec_fsm_slavescan_state(ec_fsm_t *);

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void ec_fsm_slavescan_base(ec_fsm_t *);

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void ec_fsm_slavescan_datalink(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);

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void ec_fsm_slaveconf_init(ec_fsm_t *);

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void ec_fsm_slaveconf_sync(ec_fsm_t *);

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void ec_fsm_slaveconf_preop(ec_fsm_t *);

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void ec_fsm_slaveconf_fmmu(ec_fsm_t *);

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void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);

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void ec_fsm_slaveconf_saveop(ec_fsm_t *);

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void ec_fsm_slaveconf_op(ec_fsm_t *);

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void ec_fsm_coe_dict_start(ec_fsm_t *);

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void ec_fsm_coe_dict_request(ec_fsm_t *);

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void ec_fsm_coe_dict_check(ec_fsm_t *);

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void ec_fsm_coe_dict_response(ec_fsm_t *);

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void ec_fsm_coe_dict_desc_request(ec_fsm_t *);

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void ec_fsm_coe_dict_desc_check(ec_fsm_t *);

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void ec_fsm_coe_dict_desc_response(ec_fsm_t *);

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void ec_fsm_coe_dict_entry_request(ec_fsm_t *);

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void ec_fsm_coe_dict_entry_check(ec_fsm_t *);

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void ec_fsm_coe_dict_entry_response(ec_fsm_t *);

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void ec_fsm_coe_down_start(ec_fsm_t *);

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void ec_fsm_coe_down_request(ec_fsm_t *);

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void ec_fsm_coe_down_check(ec_fsm_t *);

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void ec_fsm_coe_down_response(ec_fsm_t *);

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void ec_fsm_coe_up_start(ec_fsm_t *);

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void ec_fsm_coe_up_request(ec_fsm_t *);

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void ec_fsm_coe_up_check(ec_fsm_t *);

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void ec_fsm_coe_up_response(ec_fsm_t *);

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void ec_fsm_coe_up_seg_request(ec_fsm_t *);

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void ec_fsm_coe_up_seg_check(ec_fsm_t *);

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void ec_fsm_coe_up_seg_response(ec_fsm_t *);

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void ec_fsm_end(ec_fsm_t *);

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void ec_fsm_error(ec_fsm_t *);

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void ec_canopen_abort_msg(uint32_t);

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

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   114

/**

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   Constructor.

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*/

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

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                ec_master_t *master /**< EtherCAT master */

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                )

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{

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    fsm->master = master;

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    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

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    fsm->master_validation = 0;

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    ec_datagram_init(&fsm->datagram);

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

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

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        return -1;

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    }

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

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

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    return 0;

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}

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

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/**

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   Destructor.

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*/

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

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{

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    ec_fsm_sii_clear(&fsm->fsm_sii);

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    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_datagram_clear(&fsm->datagram);

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}

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

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   156

/**

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   Resets the state machine.

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*/

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   160

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

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{

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    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

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}

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

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   169

/**

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   Executes the current state of the state machine.

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{

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    fsm->master_state(fsm);

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    return fsm->master_state != ec_fsm_end &&

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        fsm->master_state != ec_fsm_error;

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}

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   182

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

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   184

/**

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   Returns, if the master startup state machine terminated with success.

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   \return non-zero if successful.

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*/

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   200

int ec_fsm_startup_success(ec_fsm_t *fsm /**< Finite state machine */)

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{

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    return fsm->master_state == ec_fsm_end;

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}

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

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   207

/**

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   Initializes the master configuration state machine.

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*/

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void ec_fsm_configuration(ec_fsm_t *fsm)

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{

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    fsm->master_state = ec_fsm_configuration_start;

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}

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

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   218

/**

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   Returns, if the master confuguration state machine terminated with success.

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   \return non-zero if successful.

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*/

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   223

int ec_fsm_configuration_success(ec_fsm_t *fsm /**< Finite state machine */)

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{

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    return fsm->master_state == ec_fsm_end;

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}

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   228

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

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 *  master startup state machine

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

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   232

/**

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   Master state: START.

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   Starts with getting slave count and slave states.

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*/

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void ec_fsm_startup_start(ec_fsm_t *fsm)

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{

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

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

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    fsm->master_state = ec_fsm_startup_broadcast;

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}

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

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/**

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   Master state: BROADCAST.

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   Processes the broadcast read slave count and slaves states.

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*/

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

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{

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    ec_datagram_t *datagram = &fsm->datagram;

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    unsigned int i;

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    ec_slave_t *slave;

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    ec_master_t *master = fsm->master;

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    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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

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        fsm->master_state = ec_fsm_error;

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        return;

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    }

   263

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    EC_INFO("Scanning bus.\n");

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   266

    ec_master_clear_slaves(master);

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    master->slave_count = datagram->working_counter;

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   270

    if (!master->slave_count) {

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        // no slaves present -> finish state machine.

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        fsm->master_state = ec_fsm_end;

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        return;

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    }

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    // init slaves

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

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

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                                             GFP_KERNEL))) {

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

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            fsm->master_state = ec_fsm_error;

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            return;

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        }

   284

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

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            fsm->master_state = ec_fsm_error;

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            return;

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        }

   289

   290

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

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

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

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            fsm->master_state = ec_fsm_error;

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            return;

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        }

   296

   297

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

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    }

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   300

    // begin scanning of slaves

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

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    fsm->slave_state = ec_fsm_slavescan_start;

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    fsm->master_state = ec_fsm_startup_scan;

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

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    return;

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}

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

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   310

/**

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   Master state: SCAN.

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   Executes the sub-statemachine for the scanning of a slave.

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*/

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

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{

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    ec_master_t *master = fsm->master;

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    ec_slave_t *slave = fsm->slave;

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    fsm->slave_state(fsm); // execute slave state machine

   321

   322

    if (fsm->slave_state == ec_fsm_error) {

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        EC_ERR("Slave scanning failed.\n");

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        fsm->master_state = ec_fsm_error;

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        return;

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    }

   327

   328

    if (fsm->slave_state != ec_fsm_end) return;

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   330

    // another slave to scan?

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

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

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        fsm->slave_state = ec_fsm_slavescan_start;

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

   335

        return;

   336

    }

   337

   338

    EC_INFO("Bus scanning completed.\n");

   339

   340

    ec_master_calc_addressing(master);

   341

   342

    fsm->master_state = ec_fsm_end;

   343

}

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

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 *  master configuration state machine

   347

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

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   349

/**

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   Master configuration state machine: START.

   351

*/

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   353

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

   354

{

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    ec_master_t *master = fsm->master;

   356

   357

    if (list_empty(&master->slaves)) {

   358

        fsm->master_state = ec_fsm_end;

   359

        return;

   360

    }

   361

   362

    // begin configuring slaves

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

   364

    fsm->slave_state = ec_fsm_slaveconf_init;

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    ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

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    fsm->master_state = ec_fsm_configuration_conf;

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

   368

}

   369

   370

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

   371

   372

/**

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   Master state: CONF.

   374

*/

   375

   376

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

   377

{

   378

    ec_master_t *master = fsm->master;

   379

    ec_slave_t *slave = fsm->slave;

   380

   381

    fsm->slave_state(fsm); // execute slave's state machine

   382

   383

    if (fsm->slave_state == ec_fsm_error) {

   384

        fsm->master_state = ec_fsm_error;

   385

        return;

   386

    }

   387

   388

    if (fsm->slave_state != ec_fsm_end) return;

   389

   390

    // another slave to configure?

   391

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

   392

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

   393

        fsm->slave_state = ec_fsm_slaveconf_init;

   394

        ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

   395

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

   396

        return;

   397

    }

   398

   399

    fsm->master_state = ec_fsm_end;

   400

}

   401

   402

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

   403

 *  operation / idle state machine

   404

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

   405

   406

/**

   407

   Master state: START.

   408

   Starts with getting slave count and slave states.

   409

*/

   410

   411

void ec_fsm_master_start(ec_fsm_t *fsm)

   412

{

   413

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

   414

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

   415

    fsm->master_state = ec_fsm_master_broadcast;

   416

}

   417

   418

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

   419

   420

/**

   421

   Master state: BROADCAST.

   422

   Processes the broadcast read slave count and slaves states.

   423

*/

   424

   425

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

   426

{

   427

    ec_datagram_t *datagram = &fsm->datagram;

   428

    unsigned int topology_change, states_change, i;

   429

    ec_slave_t *slave;

   430

    ec_master_t *master = fsm->master;

   431

   432

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   433

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

   434

            fsm->master_slaves_responding = 0;

   435

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

   436

                slave->online = 0;

   437

            }

   438

        }

   439

        fsm->master_state = ec_fsm_master_start;

   440

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

   441

        return;

   442

    }

   443

   444

    topology_change = (datagram->working_counter !=

   445

                       fsm->master_slaves_responding);

   446

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

   447

   448

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

   449

    fsm->master_slaves_responding = datagram->working_counter;

   450

   451

    if (topology_change) {

   452

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

   453

                fsm->master_slaves_responding,

   454

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

   455

   456

        if (master->mode == EC_MASTER_MODE_OPERATION) {

   457

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

   458

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

   459

            }

   460

            else {

   461

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

   462

            }

   463

        }

   464

    }

   465

   466

    if (states_change) {

   467

        char states[EC_STATE_STRING_SIZE];

   468

        ec_state_string(fsm->master_slave_states, states);

   469

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

   470

    }

   471

   472

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

   473

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

   474

        EC_INFO("Scanning bus.\n");

   475

   476

        ec_master_eoe_stop(master);

   477

        ec_master_clear_slaves(master);

   478

   479

        master->slave_count = datagram->working_counter;

   480

   481

        if (!master->slave_count) {

   482

            // no slaves present -> finish state machine.

   483

            fsm->master_state = ec_fsm_master_start;

   484

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

   485

            return;

   486

        }

   487

   488

        // init slaves

   489

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

   490

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

   491

                                                 GFP_ATOMIC))) {

   492

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

   493

                ec_master_clear_slaves(master);

   494

                fsm->master_state = ec_fsm_master_start;

   495

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