1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT finite state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

    43

#include "master.h"

    44

    45

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

    46

    51

#define EC_CAT_MEM 0x100

    52

    53

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

    54

    55

const ec_code_msg_t al_status_messages[];

    56

    57

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

    58

    59

void ec_fsm_master_start(ec_fsm_t *);

    60

void ec_fsm_master_wait(ec_fsm_t *);

    61

void ec_fsm_master_scan(ec_fsm_t *);

    62

void ec_fsm_master_conf(ec_fsm_t *);

    63

    64

void ec_fsm_slave_start_reading(ec_fsm_t *);

    65

void ec_fsm_slave_read_status(ec_fsm_t *);

    66

void ec_fsm_slave_read_base(ec_fsm_t *);

    67

void ec_fsm_slave_read_dl(ec_fsm_t *);

    68

void ec_fsm_slave_prepare_sii(ec_fsm_t *);

    69

void ec_fsm_slave_read_sii(ec_fsm_t *);

    70

void ec_fsm_slave_category_header(ec_fsm_t *);

    71

void ec_fsm_slave_category_data(ec_fsm_t *);

    72

void ec_fsm_slave_conf(ec_fsm_t *);

    73

void ec_fsm_slave_end(ec_fsm_t *);

    74

    75

void ec_fsm_slave_conf(ec_fsm_t *);

    76

void ec_fsm_slave_sync(ec_fsm_t *);

    77

void ec_fsm_slave_preop(ec_fsm_t *);

    78

void ec_fsm_slave_fmmu(ec_fsm_t *);

    79

void ec_fsm_slave_saveop(ec_fsm_t *);

    80

void ec_fsm_slave_op(ec_fsm_t *);

    81

void ec_fsm_slave_op2(ec_fsm_t *);

    82

    83

void ec_fsm_sii_start_reading(ec_fsm_t *);

    84

void ec_fsm_sii_check(ec_fsm_t *);

    85

void ec_fsm_sii_fetch(ec_fsm_t *);

    86

void ec_fsm_sii_finished(ec_fsm_t *);

    87

void ec_fsm_sii_error(ec_fsm_t *);

    88

    89

void ec_fsm_change_start(ec_fsm_t *);

    90

void ec_fsm_change_check(ec_fsm_t *);

    91

void ec_fsm_change_status(ec_fsm_t *);

    92

void ec_fsm_change_code(ec_fsm_t *);

    93

void ec_fsm_change_ack(ec_fsm_t *);

    94

void ec_fsm_change_ack2(ec_fsm_t *);

    95

void ec_fsm_change_end(ec_fsm_t *);

    96

void ec_fsm_change_error(ec_fsm_t *);

    97

    98

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

    99

   100

int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)

   101

{

   102

    fsm->master = master;

   103

    fsm->master_state = ec_fsm_master_start;

   104

    fsm->master_slaves_responding = 0;

   105

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   106

    fsm->slave_cat_data = NULL;

   107

   108

    ec_command_init(&fsm->command);

   109

    if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {

   110

        EC_ERR("FSM failed to allocate FSM command.\n");

   111

        return -1;

   112

    }

   113

   114

    return 0;

   115

}

   116

   117

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

   118

   119

void ec_fsm_clear(ec_fsm_t *fsm)

   120

{

   121

    if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);

   122

    ec_command_clear(&fsm->command);

   123

}

   124

   125

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

   126

   127

void ec_fsm_reset(ec_fsm_t *fsm)

   128

{

   129

    fsm->master_state = ec_fsm_master_start;

   130

    fsm->master_slaves_responding = 0;

   131

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   132

   133

    if (fsm->slave_cat_data) {

   134

        kfree(fsm->slave_cat_data);

   135

        fsm->slave_cat_data = NULL;

   136

    }

   137

}

   138

   139

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

   140

   141

void ec_fsm_execute(ec_fsm_t *fsm)

   142

{

   143

    fsm->master_state(fsm);

   144

}

   145

   146

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

   147

 *  master state machine

   148

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

   149

   150

/**

   151

   State: Start.

   152

   Starts with getting slave count and slave states.

   153

*/

   154

   155

void ec_fsm_master_start(ec_fsm_t *fsm)

   156

{

   157

    ec_command_brd(&fsm->command, 0x0130, 2);

   158

    ec_master_queue_command(fsm->master, &fsm->command);

   159

    fsm->master_state = ec_fsm_master_wait;

   160

}

   161

   162

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

   163

   164

void ec_fsm_master_wait(ec_fsm_t *fsm)

   165

{

   166

    ec_command_t *command = &fsm->command;

   167

    unsigned int topology_change, i, eoe_slaves_active;

   168

    ec_slave_t *slave;

   169

   170

    if (command->state != EC_CMD_RECEIVED) {

   171

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

   172

            // treat link down as topology change

   173

            fsm->master_slaves_responding = 0;

   174

        fsm->master_state = ec_fsm_master_start;

   175

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

   176

        return;

   177

    }

   178

   179

    if (command->working_counter == fsm->master_slaves_responding &&

   180

        command->data[0] == fsm->master_slave_states)

   181

    {

   182

        // check if any slaves are not in the state, they're supposed to be

   183

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

   184

            if (slave->state_error ||

   185

                slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   186

                slave->current_state == slave->requested_state) continue;

   187

   188

            EC_INFO("Changing state of slave %i from ", slave->ring_position);

   189

            ec_print_states(slave->current_state);

   190

            printk(" to ");

   191

            ec_print_states(slave->requested_state);

   192

            printk(".\n");

   193

   194

            fsm->slave = slave;

   195

            fsm->slave_state = ec_fsm_slave_conf;

   196

   197

            fsm->change_new = EC_SLAVE_STATE_INIT;

   198

            fsm->change_state = ec_fsm_change_start;

   199

   200

            fsm->master_state = ec_fsm_master_conf;

   201

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

   202

            return;

   203

        }

   204

   205

        // nothing to configure...

   206

        eoe_slaves_active = 0;

   207

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

   208

            if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {

   209

                eoe_slaves_active++;

   210

            }

   211

        }

   212

   213

        if (eoe_slaves_active && !list_empty(&fsm->master->eoe_handlers))

   214

            ec_master_eoe_start(fsm->master);

   215

   216

        fsm->master_state = ec_fsm_master_start;

   217

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

   218

        return;

   219

    }

   220

   221

    topology_change = command->working_counter !=

   222

        fsm->master_slaves_responding;

   223

   224

    fsm->master_slaves_responding = command->working_counter;

   225

    fsm->master_slave_states = command->data[0];

   226

   227

    EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,

   228

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

   229

    ec_print_states(fsm->master_slave_states);

   230

    printk(")\n");

   231

   232

    if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {

   233

        fsm->master_state = ec_fsm_master_start;

   234

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

   235

        return;

   236

    }

   237

   238

    EC_INFO("Topology change detected - Scanning bus.\n");

   239

   240

    ec_master_eoe_stop(fsm->master);

   241

    ec_master_clear_slaves(fsm->master);

   242

   243

    if (!fsm->master_slaves_responding) {

   244

        // no slaves present -> finish state machine.

   245

        fsm->master_state = ec_fsm_master_start;

   246

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

   247

        return;

   248

    }

   249

   250

    // init slaves

   251

    for (i = 0; i < fsm->master_slaves_responding; i++) {

   252

        if (!(slave =

   253

              (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {

   254

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

   255

            fsm->master_state = ec_fsm_master_start;

   256

            return;

   257

        }

   258

   259

        if (ec_slave_init(slave, fsm->master, i, i + 1)) {

   260

            fsm->master_state = ec_fsm_master_start;

   261

            return;

   262

        }

   263

   264

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

   265

            EC_ERR("FSM failed to add kobject.\n");

   266

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

   267

            fsm->master_state = ec_fsm_master_start;

   268

            return;

   269

        }

   270

   271

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

   272

    }

   273

   274

    // begin scanning of slaves

   275

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

   276

    fsm->slave_state = ec_fsm_slave_start_reading;

   277

   278

    fsm->master_state = ec_fsm_master_scan;

   279

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

   280

}

   281

   282

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

   283

   284

/**

   285

   State: Get Slave.

   286

   Executes the sub-statemachine of a slave.

   287

*/

   288

   289

void ec_fsm_master_scan(ec_fsm_t *fsm)

   290

{

   291

    ec_master_t *master = fsm->master;

   292

    ec_slave_t *slave = fsm->slave;

   293

   294

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

   295

   296

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

   297

   298

    // have all slaves been fetched?

   299

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

   300

    {

   301

        uint16_t coupler_index, coupler_subindex;

   302

        uint16_t reverse_coupler_index, current_coupler_index;

   303

        ec_slave_t *slave;

   304

        ec_slave_ident_t *ident;

   305

   306

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

   307

   308

        // identify all slaves and calculate coupler addressing

   309

   310

        coupler_index = 0;

   311

        reverse_coupler_index = 0xFFFF;

   312

        current_coupler_index = 0x3FFF;

   313

        coupler_subindex = 0;

   314

   315

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

   316

        {

   317

            // search for identification in "database"

   318

            ident = slave_idents;

   319

            while (ident->type) {

   320

                if (ident->vendor_id == slave->sii_vendor_id

   321

                    && ident->product_code == slave->sii_product_code) {

   322

                    slave->type = ident->type;

   323

                    break;

   324

                }

   325

                ident++;

   326

            }

   327

   328

            if (!slave->type) {

   329

                EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"

   330

                        " code 0x%08X) at position %i.\n",

   331

                        slave->sii_vendor_id, slave->sii_product_code,

   332

                        slave->ring_position);

   333

            }

   334

            else {

   335

                // if the slave is a bus coupler, change adressing base

   336

                if (slave->type->special == EC_TYPE_BUS_COUPLER) {

   337

                    if (slave->sii_alias)

   338

                        current_coupler_index = reverse_coupler_index--;

   339

                    else

   340

                        current_coupler_index = coupler_index++;

   341

                    coupler_subindex = 0;

   342

                }

   343

            }

   344

   345

            // determine initial state.

   346

            if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {

   347

                slave->requested_state = EC_SLAVE_STATE_OP;

   348

            }

   349

            else {

   350

                if (master->mode == EC_MASTER_MODE_RUNNING)

   351

                    slave->requested_state = EC_SLAVE_STATE_PREOP;

   352

                else

   353

                    slave->requested_state = EC_SLAVE_STATE_INIT;

   354

            }

   355

   356

            // calculate coupler-based slave address

   357

            slave->coupler_index = current_coupler_index;

   358

            slave->coupler_subindex = coupler_subindex;

   359

            coupler_subindex++;

   360

        }

   361

   362

        fsm->master_state = ec_fsm_master_start;

   363

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

   364

        return;

   365

    }

   366

   367

    // process next slave

   368

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

   369

    fsm->slave_state = ec_fsm_slave_start_reading;

   370

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

   371

}

   372

   373

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

   374

   375

/**

   376

   Free-Run state: Configure slaves.

   377

*/

   378

   379

void ec_fsm_master_conf(ec_fsm_t *fsm)

   380

{

   381

    ec_master_t *master = fsm->master;

   382

    ec_slave_t *slave;

   383

   384

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

   385

   386

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

   387

   388

    // check if any slaves are not in the state, they're supposed to be

   389

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

   390

        if (slave->state_error ||

   391

            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   392

            slave->current_state == slave->requested_state) continue;

   393

   394

        EC_INFO("Changing state of slave %i from ", slave->ring_position);

   395

        ec_print_states(slave->current_state);

   396

        printk(" to ");

   397

        ec_print_states(slave->requested_state);

   398

        printk(".\n");

   399

   400

        fsm->slave = slave;

   401

        fsm->slave_state = ec_fsm_slave_conf;

   402

   403

        fsm->change_new = EC_SLAVE_STATE_INIT;

   404

        fsm->change_state = ec_fsm_change_start;

   405

   406

        fsm->master_state = ec_fsm_master_conf;

   407

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

   408

        return;

   409

    }

   410

   411

    fsm->master_state = ec_fsm_master_start;

   412

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

   413

}

   414

   415

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

   416

 *  slave state machine

   417

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

   418

   419

/**

   420

   Slave state: Start.

   421

   First state of the slave state machine. Writes the station address to the

   422

   slave, according to its ring position.

   423

*/

   424

   425

void ec_fsm_slave_start_reading(ec_fsm_t *fsm)

   426

{

   427

    ec_command_t *command = &fsm->command;

   428

   429

    // write station address

   430

    ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);

   431

    EC_WRITE_U16(command->data, fsm->slave->station_address);

   432

    ec_master_queue_command(fsm->master, command);

   433

    fsm->slave_state = ec_fsm_slave_read_status;

   434

}

   435

   436

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

   437

   438

/**

   439

   Slave state: Read status.

   440

*/

   441

   442

void ec_fsm_slave_read_status(ec_fsm_t *fsm)

   443

{

   444

    ec_command_t *command = &fsm->command;

   445

   446

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   447

        EC_ERR("FSM failed to write station address of slave %i.\n",

   448

               fsm->slave->ring_position);

   449

        fsm->slave_state = ec_fsm_slave_end;

   450

        return;

   451

    }

   452

   453

    // read AL status

   454

    ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);

   455

    ec_master_queue_command(fsm->master, command);

   456

    fsm->slave_state = ec_fsm_slave_read_base;

   457

}

   458

   459

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

   460

   461

/**

   462

   Slave state: Read base.

   463

*/

   464

   465

void ec_fsm_slave_read_base(ec_fsm_t *fsm)

   466

{

   467

    ec_command_t *command = &fsm->command;

   468

    ec_slave_t *slave = fsm->slave;

   469

   470

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   471

        EC_ERR("FSM failed to read AL status of slave %i.\n",

   472

               fsm->slave->ring_position);

   473

        fsm->slave_state = ec_fsm_slave_end;

   474

        return;

   475

    }

   476

   477

    slave->current_state = EC_READ_U8(command->data);

   478

    if (slave->current_state & EC_ACK) {

   479

        EC_WARN("Slave %i has status error bit set (0x%02X)!\n",

   480

                slave->ring_position, slave->current_state);

   481

        slave->current_state &= 0x0F;

   482

    }

   483

   484

    // read base data

   485

    ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);

   486

    ec_master_queue_command(fsm->master, command);

   487

    fsm->slave_state = ec_fsm_slave_read_dl;

   488

}

   489

   490

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

   491

   492

/**

   493

   Slave state: Read DL.

   494

*/

   495

   496

void ec_fsm_slave_read_dl(ec_fsm_t *fsm)

   497

{

   498

    ec_command_t *command = &fsm->command;

   499

    ec_slave_t *slave = fsm->slave;

   500

   501

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   502

        EC_ERR("FSM failed to read base data of slave %i.\n",

   503

               slave->ring_position);

   504

        fsm->slave_state = ec_fsm_slave_end;

   505

        return;

   506

    }

   507

   508

    slave->base_type       = EC_READ_U8 (command->data);

   509

    slave->base_revision   = EC_READ_U8 (command->data + 1);

   510

    slave->base_build      = EC_READ_U16(command->data + 2);