1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    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

void ec_fsm_master_state_start(ec_fsm_master_t *);

    50

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    51

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    52

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    53

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    54

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    55

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    56

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    57

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    58

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    59

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    60

void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

    61

void ec_fsm_master_state_foe_request(ec_fsm_master_t *);

    62

    63

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

    64

    65

/** Constructor.

    66

 */

    67

void ec_fsm_master_init(

    68

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

    69

        ec_master_t *master, /**< EtherCAT master. */

    70

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

    71

        )

    72

{

    73

    fsm->master = master;

    74

    fsm->datagram = datagram;

    75

    fsm->state = ec_fsm_master_state_start;

    76

    fsm->idle = 0;

    77

    fsm->link_state = 0;

    78

    fsm->slaves_responding = 0;

    79

    fsm->topology_change_pending = 0;

    80

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    81

    82

    // init sub-state-machines

    83

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

    84

    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);

    85

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

    86

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

    87

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

    88

            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);

    89

    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,

    90

            &fsm->fsm_slave_config, &fsm->fsm_pdo);

    91

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

    92

}

    93

    94

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

    95

    96

/** Destructor.

    97

 */

    98

void ec_fsm_master_clear(

    99

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

   100

        )

   101

{

   102

    // clear sub-state machines

   103

    ec_fsm_coe_clear(&fsm->fsm_coe);

   104

    ec_fsm_foe_clear(&fsm->fsm_foe);

   105

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   106

    ec_fsm_change_clear(&fsm->fsm_change);

   107

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   108

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   109

    ec_fsm_sii_clear(&fsm->fsm_sii);

   110

}

   111

   112

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

   113

   114

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

   115

 *

   116

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

   117

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

   118

 */

   119

void ec_fsm_master_exec(

   120

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

   121

        )

   122

{

   123

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

   124

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

   125

        // datagram was not sent or received yet.

   126

        return;

   127

    }

   128

   129

    fsm->state(fsm);

   130

}

   131

   132

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

   133

   134

/**

   135

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

   136

 */

   137

int ec_fsm_master_idle(

   138

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

   139

        )

   140

{

   141

    return fsm->idle;

   142

}

   143

   144

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

   145

   146

/** Restarts the master state machine.

   147

 */

   148

void ec_fsm_master_restart(

   149

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

   150

        )

   151

{

   152

    fsm->state = ec_fsm_master_state_start;

   153

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

   154

}

   155

   156

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

   157

 * Master state machine

   158

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

   159

   160

/** Master state: START.

   161

 *

   162

 * Starts with getting slave count and slave states.

   163

 */

   164

void ec_fsm_master_state_start(

   165

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

   166

        )

   167

{

   168

    fsm->idle = 1;

   169

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

   170

    ec_datagram_zero(fsm->datagram);

   171

    fsm->state = ec_fsm_master_state_broadcast;

   172

}

   173

   174

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

   175

   176

/** Master state: BROADCAST.

   177

 *

   178

 * Processes the broadcast read slave count and slaves states.

   179

 */

   180

void ec_fsm_master_state_broadcast(

   181

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

   182

        )

   183

{

   184

    ec_datagram_t *datagram = fsm->datagram;

   185

    unsigned int i, size;

   186

    ec_slave_t *slave;

   187

    ec_master_t *master = fsm->master;

   188

   189

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

   190

        return; // always retry

   191

   192

    // bus topology change?

   193

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

   194

        fsm->topology_change_pending = 1;

   195

        fsm->slaves_responding = datagram->working_counter;

   196

        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);

   197

    }

   198

   199

    if (fsm->link_state && !master->main_device.link_state) { // link went down

   200

        if (master->debug_level) {

   201

            EC_DBG("Master state machine detected "

   202

                    "link down. Clearing slave list.\n");

   203

        }

   204

   205

#ifdef EC_EOE

   206

        ec_master_eoe_stop(master);

   207

        ec_master_clear_eoe_handlers(master);

   208

#endif

   209

        ec_master_clear_slaves(master);

   210

    }

   211

    fsm->link_state = master->main_device.link_state;

   212

   213

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   214

        ec_fsm_master_restart(fsm);

   215

        return;

   216

    }

   217

   218

    if (fsm->slaves_responding) {

   219

        uint8_t states = EC_READ_U8(datagram->data);

   220

        if (states != fsm->slave_states) { // slave states changed?

   221

            char state_str[EC_STATE_STRING_SIZE];

   222

            fsm->slave_states = states;

   223

            ec_state_string(fsm->slave_states, state_str, 1);

   224

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

   225

        }

   226

    } else {

   227

        fsm->slave_states = 0x00;

   228

    }

   229

   230

    if (fsm->topology_change_pending) {

   231

        down(&master->scan_sem);

   232

        if (!master->allow_scan) {

   233

            up(&master->scan_sem);

   234

        } else {

   235

            master->scan_busy = 1;

   236

            up(&master->scan_sem);

   237

   238

            // topology change when scan is allowed:

   239

            // clear all slaves and scan the bus

   240

            fsm->topology_change_pending = 0;

   241

            fsm->idle = 0;

   242

            fsm->scan_jiffies = jiffies;

   243

   244

#ifdef EC_EOE

   245

            ec_master_eoe_stop(master);

   246

            ec_master_clear_eoe_handlers(master);

   247

#endif

   248

            ec_master_clear_slaves(master);

   249

   250

            master->slave_count = fsm->slaves_responding;

   251

   252

            if (!master->slave_count) {

   253

                // no slaves present -> finish state machine.

   254

                master->scan_busy = 0;

   255

                wake_up_interruptible(&master->scan_queue);

   256

                ec_fsm_master_restart(fsm);

   257

                return;

   258

            }

   259

   260

            size = sizeof(ec_slave_t) * master->slave_count;

   261

            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   262

                EC_ERR("Failed to allocate %u bytes of slave memory!\n",

   263

                        size);

   264

                master->slave_count = 0; // TODO avoid retrying scan!

   265

                master->scan_busy = 0;

   266

                wake_up_interruptible(&master->scan_queue);

   267

                ec_fsm_master_restart(fsm);

   268

                return;

   269

            }

   270

   271

            // init slaves

   272

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

   273

                slave = master->slaves + i;

   274

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

   275

   276

                // do not force reconfiguration in operation phase to avoid

   277

                // unnecesssary process data interruptions

   278

                if (master->phase != EC_OPERATION)

   279

                    slave->force_config = 1;

   280

            }

   281

   282

            // broadcast clear all station addresses

   283

            ec_datagram_bwr(datagram, 0x0010, 2);

   284

            EC_WRITE_U16(datagram->data, 0x0000);

   285

            fsm->retries = EC_FSM_RETRIES;

   286

            fsm->state = ec_fsm_master_state_clear_addresses;

   287

            return;

   288

        }

   289

    }

   290

   291

    if (master->slave_count) {

   292

        // fetch state from first slave

   293

        fsm->slave = master->slaves;

   294

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

   295

                0x0130, 2);

   296

        ec_datagram_zero(datagram);

   297

        fsm->retries = EC_FSM_RETRIES;

   298

        fsm->state = ec_fsm_master_state_read_state;

   299

    } else {

   300

        ec_fsm_master_restart(fsm);

   301

    }

   302

}

   303

   304

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

   305

   306

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

   307

 *

   308

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

   309

 */

   310

int ec_fsm_master_action_process_sii(

   311

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

   312

        )

   313

{

   314

    ec_master_t *master = fsm->master;

   315

    ec_sii_write_request_t *request;

   316

   317

    // search the first request to be processed

   318

    while (1) {

   319

        if (list_empty(&master->sii_requests))

   320

            break;

   321

   322

        // get first request

   323

        request = list_entry(master->sii_requests.next,

   324

                ec_sii_write_request_t, list);

   325

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

   326

        request->state = EC_INT_REQUEST_BUSY;

   327

   328

        // found pending SII write operation. execute it!

   329

        if (master->debug_level)

   330

            EC_DBG("Writing SII data to slave %u...\n",

   331

                    request->slave->ring_position);

   332

        fsm->sii_request = request;

   333

        fsm->sii_index = 0;

   334

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

   335

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   336

        fsm->state = ec_fsm_master_state_write_sii;

   337

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

   338

        return 1;

   339

    }

   340

   341

    return 0;

   342

}

   343

   344

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

   345

   346

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

   347

 * 

   348

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

   349

 */

   350

int ec_fsm_master_action_process_register(

   351

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

   352

        )

   353

{

   354

    ec_master_t *master = fsm->master;

   355

    ec_reg_request_t *request;

   356

   357

    // search the first request to be processed

   358

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

   359

   360

        // get first request

   361

        request = list_entry(master->reg_requests.next,

   362

                ec_reg_request_t, list);

   363

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

   364

        request->state = EC_INT_REQUEST_BUSY;

   365

   366

        // found pending request; process it!

   367

        if (master->debug_level)

   368

            EC_DBG("Processing register request for slave %u, "

   369

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

   370

                    request->slave->ring_position,

   371

                    request->offset, request->length);

   372

   373

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

   374

            EC_ERR("Request length (%zu) exceeds maximum "

   375

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

   376

                    fsm->datagram->mem_size);

   377

            request->state = EC_INT_REQUEST_FAILURE;

   378

            wake_up(&master->reg_queue);

   379

            continue;

   380

        }

   381

   382

        fsm->reg_request = request;

   383

   384

        if (request->dir == EC_DIR_INPUT) {

   385

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

   386

                    request->offset, request->length);

   387

            ec_datagram_zero(fsm->datagram);

   388

        } else {

   389

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

   390

                    request->offset, request->length);

   391

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

   392

        }

   393

        fsm->retries = EC_FSM_RETRIES;

   394

        fsm->state = ec_fsm_master_state_reg_request;

   395

        return 1;

   396

    }

   397

   398

    return 0;

   399

}

   400

   401

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

   402

   403

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

   404

 *

   405

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

   406

 */

   407

int ec_fsm_master_action_process_sdo(

   408

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

   409

        )

   410

{

   411

    ec_master_t *master = fsm->master;

   412

    ec_slave_t *slave;

   413

    ec_sdo_request_t *req;

   414

    ec_master_sdo_request_t *request;

   415

   416

    // search for internal requests to be processed

   417

    for (slave = master->slaves;

   418

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

   419

            slave++) {

   420

        if (!slave->config)

   421

            continue;

   422

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

   423

            if (req->state == EC_INT_REQUEST_QUEUED) {

   424

   425

                if (ec_sdo_request_timed_out(req)) {

   426

                    req->state = EC_INT_REQUEST_FAILURE;

   427

                    if (master->debug_level)

   428

                        EC_DBG("SDO request for slave %u timed out...\n",

   429

                                slave->ring_position);

   430

                    continue;

   431

                }

   432

   433

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   434

                    req->state = EC_INT_REQUEST_FAILURE;

   435

                    continue;

   436

                }

   437

   438

                req->state = EC_INT_REQUEST_BUSY;

   439

                if (master->debug_level)

   440

                    EC_DBG("Processing SDO request for slave %u...\n",

   441

                            slave->ring_position);

   442

   443

                fsm->idle = 0;

   444

                fsm->sdo_request = req;

   445

                fsm->slave = slave;

   446

                fsm->state = ec_fsm_master_state_sdo_request;

   447

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

   448

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

   449

                return 1;

   450

            }

   451

        }

   452

    }

   453

   454

    // search the first external request to be processed

   455

    while (1) {

   456

        if (list_empty(&master->slave_sdo_requests))

   457

            break;

   458

   459

        // get first request

   460

        request = list_entry(master->slave_sdo_requests.next,

   461

                ec_master_sdo_request_t, list);

   462

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

   463

        request->req.state = EC_INT_REQUEST_BUSY;

   464

   465

        slave = request->slave;

   466

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   467

            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",

   468

                    slave->ring_position);

   469

            request->req.state = EC_INT_REQUEST_FAILURE;

   470

            wake_up(&master->sdo_queue);

   471

            continue;

   472

        }

   473

   474

        // Found pending SDO request. Execute it!

   475

        if (master->debug_level)

   476

            EC_DBG("Processing SDO request for slave %u...\n",

   477

                    slave->ring_position);

   478

   479

        // Start uploading SDO

   480

        fsm->idle = 0;

   481

        fsm->sdo_request = &request->req;

   482

        fsm->slave = slave;

   483

        fsm->state = ec_fsm_master_state_sdo_request;