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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

     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

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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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 *

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

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

/** \file

    28

 * EtherCAT master state machine.

    29

 */

    30

    31

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

    32

    33

#include "globals.h"

    34

#include "master.h"

    35

#include "mailbox.h"

    36

#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#endif

    40

    41

#include "fsm_master.h"

    42

    43

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

    44

    45

void ec_fsm_master_state_start(ec_fsm_master_t *);

    46

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    47

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 *);

    49

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    50

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    51

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    52

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    53

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_phy_request(ec_fsm_master_t *);

    56

    57

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

    58

    59

/** Constructor.

    60

 */

    61

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. */

    65

        )

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{

    67

    fsm->master = master;

    68

    fsm->datagram = datagram;

    69

    fsm->state = ec_fsm_master_state_start;

    70

    fsm->idle = 0;

    71

    fsm->slaves_responding = 0;

    72

    fsm->topology_change_pending = 0;

    73

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    74

    75

    // init sub-state-machines

    76

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

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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);

    79

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

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

    81

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

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

    83

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

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}

    85

    86

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

    87

    88

/** Destructor.

    89

 */

    90

void ec_fsm_master_clear(

    91

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

    92

        )

    93

{

    94

    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

    96

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

    97

    ec_fsm_change_clear(&fsm->fsm_change);

    98

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

    99

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   100

    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   103

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

   104

   105

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

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 *

   107

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

   108

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

   109

 */

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void ec_fsm_master_exec(

   111

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

   112

        )

   113

{

   114

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

   115

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

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        // datagram was not sent or received yet.

   117

        return;

   118

    }

   119

   120

    fsm->state(fsm);

   121

}

   122

   123

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

   124

   125

/**

   126

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

   127

 */

   128

int ec_fsm_master_idle(

   129

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

   130

        )

   131

{

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    return fsm->idle;

   133

}

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

   136

   137

/** Restarts the master state machine.

   138

 */

   139

void ec_fsm_master_restart(

   140

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

   141

        )

   142

{

   143

    fsm->state = ec_fsm_master_state_start;

   144

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

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}

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   147

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

   148

 * Master state machine

   149

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

   150

   151

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

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 */

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void ec_fsm_master_state_start(

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

   157

        )

   158

{

   159

    fsm->idle = 1;

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

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    ec_datagram_zero(fsm->datagram);

   162

    fsm->state = ec_fsm_master_state_broadcast;

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}

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

   166

   167

/** Master state: BROADCAST.

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 *

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 * Processes the broadcast read slave count and slaves states.

   170

 */

   171

void ec_fsm_master_state_broadcast(

   172

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

   173

        )

   174

{

   175

    ec_datagram_t *datagram = fsm->datagram;

   176

    unsigned int i, size;

   177

    ec_slave_t *slave;

   178

    ec_master_t *master = fsm->master;

   179

   180

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

   181

        return; // always retry

   182

   183

    // bus topology change?

   184

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

   185

        fsm->topology_change_pending = 1;

   186

        fsm->slaves_responding = datagram->working_counter;

   187

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

   188

    }

   189

   190

    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down

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        ec_fsm_master_restart(fsm);

   192

        return;

   193

    }

   194

   195

    if (fsm->slaves_responding) {

   196

        uint8_t states = EC_READ_U8(datagram->data);

   197

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

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            char state_str[EC_STATE_STRING_SIZE];

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            fsm->slave_states = states;

   200

            ec_state_string(fsm->slave_states, state_str);

   201

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

   202

        }

   203

    } else {

   204

        fsm->slave_states = 0x00;

   205

    }

   206

   207

    if (fsm->topology_change_pending) {

   208

        down(&master->scan_sem);

   209

        if (!master->allow_scan) {

   210

            up(&master->scan_sem);

   211

        } else {

   212

            master->scan_busy = 1;

   213

            up(&master->scan_sem);

   214

   215

            // topology change when scan is allowed:

   216

            // clear all slaves and scan the bus

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            fsm->topology_change_pending = 0;

   218

            fsm->idle = 0;

   219

            fsm->scan_jiffies = jiffies;

   220

   221

#ifdef EC_EOE

   222

            ec_master_eoe_stop(master);

   223

            ec_master_clear_eoe_handlers(master);

   224

#endif

   225

            ec_master_clear_slaves(master);

   226

   227

            master->slave_count = fsm->slaves_responding;

   228

   229

            if (!master->slave_count) {

   230

                // no slaves present -> finish state machine.

   231

                master->scan_busy = 0;

   232

                wake_up_interruptible(&master->scan_queue);

   233

                ec_fsm_master_restart(fsm);

   234

                return;

   235

            }

   236

   237

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

   238

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

   239

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

   240

                        size);

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

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                master->scan_busy = 0;

   243

                wake_up_interruptible(&master->scan_queue);

   244

                ec_fsm_master_restart(fsm);

   245

                return;

   246

            }

   247

   248

            // init slaves

   249

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

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                slave = master->slaves + i;

   251

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

   252

   253

                // do not force reconfiguration in operation phase to avoid

   254

                // unnecesssary process data interruptions

   255

                if (master->phase != EC_OPERATION)

   256

                    slave->force_config = 1;

   257

            }

   258

   259

            // broadcast clear all station addresses

   260

            ec_datagram_bwr(datagram, 0x0010, 2);

   261

            EC_WRITE_U16(datagram->data, 0x0000);

   262

            fsm->retries = EC_FSM_RETRIES;

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            fsm->state = ec_fsm_master_state_clear_addresses;

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            return;

   265

        }

   266

    }

   267

   268

    if (master->slave_count) {

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        // fetch state from first slave

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        fsm->slave = master->slaves;

   271

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

   272

                0x0130, 2);

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        ec_datagram_zero(datagram);

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        fsm->retries = EC_FSM_RETRIES;

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        fsm->state = ec_fsm_master_state_read_state;

   276

    } else {

   277

        ec_fsm_master_restart(fsm);

   278

    }

   279

}

   280

   281

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

   282

   283

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

   284

 * 

   285

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

   286

 */

   287

int ec_fsm_master_action_process_sii(

   288

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

   289

        )

   290

{

   291

    ec_master_t *master = fsm->master;

   292

    ec_sii_write_request_t *request;

   293

   294

    // search the first request to be processed

   295

    while (1) {

   296

        if (list_empty(&master->sii_requests))

   297

            break;

   298

   299

        // get first request

   300

        request = list_entry(master->sii_requests.next,

   301

                ec_sii_write_request_t, list);

   302

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

   303

        request->state = EC_INT_REQUEST_BUSY;

   304

   305

        // found pending SII write operation. execute it!

   306

        if (master->debug_level)

   307

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

   308

                    request->slave->ring_position);

   309

        fsm->sii_request = request;

   310

        fsm->sii_index = 0;

   311

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

   312

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   313

        fsm->state = ec_fsm_master_state_write_sii;

   314

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

   315

        return 1;

   316

    }

   317

   318

    return 0;

   319

}

   320

   321

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

   322

   323

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

   324

 * 

   325

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

   326

 */

   327

int ec_fsm_master_action_process_phy(

   328

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

   329

        )

   330

{

   331

    ec_master_t *master = fsm->master;

   332

    ec_phy_request_t *request;

   333

   334

    // search the first request to be processed

   335

    while (1) {

   336

        if (list_empty(&master->phy_requests))

   337

            break;

   338

   339

        // get first request

   340

        request = list_entry(master->phy_requests.next,

   341

                ec_phy_request_t, list);

   342

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

   343

        request->state = EC_INT_REQUEST_BUSY;

   344

   345

        // found pending request; process it!

   346

        if (master->debug_level)

   347

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

   348

                    request->slave->ring_position);

   349

        fsm->phy_request = request;

   350

   351

        if (request->dir == EC_DIR_INPUT) {

   352

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

   353

                    request->offset, request->length);

   354

            ec_datagram_zero(fsm->datagram);

   355

        } else {

   356

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

   357

                EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",

   358

                        request->length, fsm->datagram->mem_size);

   359

                request->state = EC_INT_REQUEST_FAILURE;

   360

                wake_up(&master->phy_queue);

   361

                continue;

   362

            }

   363

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

   364

                    request->offset, request->length);

   365

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

   366

        }

   367

        fsm->retries = EC_FSM_RETRIES;

   368

        fsm->state = ec_fsm_master_state_phy_request;

   369

        return 1;

   370

    }

   371

   372

    return 0;

   373

}

   374

   375

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

   376

   377

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

   378

 * 

   379

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

   380

 */

   381

int ec_fsm_master_action_process_sdo(

   382

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

   383

        )

   384

{

   385

    ec_master_t *master = fsm->master;

   386

    ec_slave_t *slave;

   387

    ec_sdo_request_t *req;

   388

    ec_master_sdo_request_t *request;

   389

   390

    // search for internal requests to be processed

   391

    for (slave = master->slaves;

   392

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

   393

            slave++) {

   394

        if (!slave->config)

   395

            continue;

   396

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

   397

            if (req->state == EC_INT_REQUEST_QUEUED) {

   398

   399

                if (ec_sdo_request_timed_out(req)) {

   400

                    req->state = EC_INT_REQUEST_FAILURE;

   401

                    if (master->debug_level)

   402

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

   403

                                slave->ring_position);

   404

                    continue;

   405

                }

   406

   407

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   408

                    req->state = EC_INT_REQUEST_FAILURE;

   409

                    continue;

   410

                }

   411

   412

                req->state = EC_INT_REQUEST_BUSY;

   413

                if (master->debug_level)

   414

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

   415

                            slave->ring_position);

   416

   417

                fsm->idle = 0;

   418

                fsm->sdo_request = req;

   419

                fsm->slave = slave;

   420

                fsm->state = ec_fsm_master_state_sdo_request;

   421

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

   422

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

   423

                return 1;

   424

            }

   425

        }

   426

    }

   427

   428

    // search the first external request to be processed

   429

    while (1) {

   430

        if (list_empty(&master->slave_sdo_requests))

   431

            break;

   432

   433

        // get first request

   434

        request = list_entry(master->slave_sdo_requests.next,

   435

                ec_master_sdo_request_t, list);

   436

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

   437

        request->req.state = EC_INT_REQUEST_BUSY;

   438

   439

        slave = request->slave;

   440

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   441

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

   442

                    slave->ring_position);

   443

            request->req.state = EC_INT_REQUEST_FAILURE;

   444

            wake_up(&master->sdo_queue);

   445

            continue;

   446

        }

   447

   448

        // Found pending SDO request. Execute it!

   449

        if (master->debug_level)

   450

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

   451

                    slave->ring_position);

   452

   453

        // Start uploading SDO

   454

        fsm->idle = 0;

   455

        fsm->sdo_request = &request->req;

   456

        fsm->slave = slave;

   457

        fsm->state = ec_fsm_master_state_sdo_request;

   458

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

   459

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

   460

        return 1;

   461

    }

   462

   463

    return 0;

   464

}

   465

   466

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

   467

   468

/** Master action: IDLE.

   469

 *

   470

 * Does secondary work.

   471

 */

   472

void ec_fsm_master_action_idle(

   473

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

   474

        )

   475

{

   476

    ec_master_t *master = fsm->master;

   477

    ec_slave_t *slave;

   478

   479

    // Check for pending SDO requests

   480

    if (ec_fsm_master_action_process_sdo(fsm))

   481

        return;

   482

   483

    // check, if slaves have an SDO dictionary to read out.

   484

    for (slave = master->slaves;

   485

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