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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    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

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

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 *

    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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  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

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

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 *

    23

 *  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

    28

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "mailbox.h"

    44

#include "fsm_slave.h"

    45

#include "fsm_mapping.h"

    46

    47

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

    48

    49

void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);

    50

void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);

    51

void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);

    52

void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);

    53

void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);

    54

void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);

    55

void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);

    56

    57

void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);

    58

void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);

    59

void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);

    60

void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *);

    61

void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);

    62

void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);

    63

void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);

    64

void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);

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void ec_fsm_slave_conf_state_mapconf(ec_fsm_slave_t *);

    66

void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);

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void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);

    68

    69

void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);

    70

void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);

    71

void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);

    72

void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);

    73

void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);

    74

void ec_fsm_slave_conf_enter_mapconf(ec_fsm_slave_t *);

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void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);

    76

    77

void ec_fsm_slave_state_end(ec_fsm_slave_t *);

    78

void ec_fsm_slave_state_error(ec_fsm_slave_t *);

    79

    80

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

    81

    82

/**

    83

   Constructor.

    84

*/

    85

    86

void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */

    87

        ec_datagram_t *datagram /**< datagram structure to use */

    88

        )

    89

{

    90

    fsm->datagram = datagram;

    91

    92

    // init sub state machines

    93

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

    94

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

    95

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

    96

    ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);

    97

}

    98

    99

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

   100

   101

/**

   102

   Destructor.

   103

*/

   104

   105

void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)

   106

{

   107

    // clear sub state machines

   108

    ec_fsm_sii_clear(&fsm->fsm_sii);

   109

    ec_fsm_change_clear(&fsm->fsm_change);

   110

    ec_fsm_coe_clear(&fsm->fsm_coe);

   111

    ec_fsm_mapping_clear(&fsm->fsm_map);

   112

}

   113

   114

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

   115

   116

/**

   117

 * Start slave scan state machine.

   118

 */

   119

   120

void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */

   121

        ec_slave_t *slave /**< slave to configure */

   122

        )

   123

{

   124

    fsm->slave = slave;

   125

    fsm->state = ec_fsm_slave_scan_state_start;

   126

}

   127

   128

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

   129

   130

/**

   131

 * Start slave configuration state machine.

   132

 */

   133

   134

void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */

   135

        ec_slave_t *slave /**< slave to configure */

   136

        )

   137

{

   138

    fsm->slave = slave;

   139

    fsm->state = ec_fsm_slave_conf_state_start;

   140

}

   141

   142

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

   143

   144

/**

   145

   \return false, if state machine has terminated

   146

*/

   147

   148

int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)

   149

{

   150

    return fsm->state != ec_fsm_slave_state_end

   151

        && fsm->state != ec_fsm_slave_state_error;

   152

}

   153

   154

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

   155

   156

/**

   157

   Executes the current state of the state machine.

   158

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

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   of the state machine is delayed to the next cycle.

   160

   \return false, if state machine has terminated

   161

*/

   162

   163

int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */)

   164

{

   165

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

   166

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

   167

        // datagram was not sent or received yet.

   168

        return ec_fsm_slave_running(fsm);

   169

    }

   170

   171

    fsm->state(fsm);

   172

    return ec_fsm_slave_running(fsm);

   173

}

   174

   175

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

   176

   177

/**

   178

   \return true, if the state machine terminated gracefully

   179

*/

   180

   181

int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)

   182

{

   183

    return fsm->state == ec_fsm_slave_state_end;

   184

}

   185

   186

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

   187

 *  slave scan state machine

   188

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

   189

   190

/**

   191

   Slave scan state: START.

   192

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

   193

   slave, according to its ring position.

   194

*/

   195

   196

void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)

   197

{

   198

    // write station address

   199

    ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);

   200

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

   201

    fsm->retries = EC_FSM_RETRIES;

   202

    fsm->state = ec_fsm_slave_scan_state_address;

   203

}

   204

   205

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

   206

   207

/**

   208

   Slave scan state: ADDRESS.

   209

*/

   210

   211

void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)

   212

{

   213

    ec_datagram_t *datagram = fsm->datagram;

   214

   215

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   216

        return;

   217

   218

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   219

        fsm->state = ec_fsm_slave_state_error;

   220

        EC_ERR("Failed to receive station address datagram for slave %i"

   221

                " (datagram state %i)\n",

   222

                fsm->slave->ring_position, datagram->state);

   223

        return;

   224

    }

   225

   226

    if (datagram->working_counter != 1) {

   227

        fsm->slave->error_flag = 1;

   228

        fsm->state = ec_fsm_slave_state_error;

   229

        EC_ERR("Failed to write station address on slave %i: ",

   230

               fsm->slave->ring_position);

   231

        ec_datagram_print_wc_error(datagram);

   232

        return;

   233

    }

   234

   235

    // Read AL state

   236

    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);

   237

    fsm->retries = EC_FSM_RETRIES;

   238

    fsm->state = ec_fsm_slave_scan_state_state;

   239

}

   240

   241

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

   242

   243

/**

   244

   Slave scan state: STATE.

   245

*/

   246

   247

void ec_fsm_slave_scan_state_state(

   248

        ec_fsm_slave_t *fsm /**< slave state machine */

   249

        )

   250

{

   251

    ec_datagram_t *datagram = fsm->datagram;

   252

    ec_slave_t *slave = fsm->slave;

   253

   254

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   255

        return;

   256

   257

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   258

        fsm->state = ec_fsm_slave_state_error;

   259

        EC_ERR("Failed to receive AL state datagram from slave %i"

   260

                " (datagram state %i).\n",

   261

               fsm->slave->ring_position, datagram->state);

   262

        return;

   263

    }

   264

   265

    if (datagram->working_counter != 1) {

   266

        fsm->slave->error_flag = 1;

   267

        fsm->state = ec_fsm_slave_state_error;

   268

        EC_ERR("Failed to read AL state of slave %i: ",

   269

               fsm->slave->ring_position);

   270

        ec_datagram_print_wc_error(datagram);

   271

        return;

   272

    }

   273

   274

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

   275

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   276

        char state_str[EC_STATE_STRING_SIZE];

   277

        ec_state_string(slave->current_state, state_str);

   278

        EC_WARN("Slave %i has state error bit set (%s)!\n",

   279

                slave->ring_position, state_str);

   280

    }

   281

   282

    // read base data

   283

    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);

   284

    fsm->retries = EC_FSM_RETRIES;

   285

    fsm->state = ec_fsm_slave_scan_state_base;

   286

}

   287

   288

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

   289

   290

/**

   291

   Slave scan state: BASE.

   292

*/

   293

   294

void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)

   295

{

   296

    ec_datagram_t *datagram = fsm->datagram;

   297

    ec_slave_t *slave = fsm->slave;

   298

   299

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   300

        return;

   301

   302

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   303

        fsm->state = ec_fsm_slave_state_error;

   304

        EC_ERR("Failed to receive base data datagram for slave %i"

   305

                " (datagram state %i).\n",

   306

               slave->ring_position, datagram->state);

   307

        return;

   308

    }

   309

   310

    if (datagram->working_counter != 1) {

   311

        fsm->slave->error_flag = 1;

   312

        fsm->state = ec_fsm_slave_state_error;

   313

        EC_ERR("Failed to read base data from slave %i: ",

   314

               slave->ring_position);

   315

        ec_datagram_print_wc_error(datagram);

   316

        return;

   317

    }

   318

   319

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

   320

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

   321

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

   322

    slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);

   323

   324

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   325

        slave->base_fmmu_count = EC_MAX_FMMUS;

   326

   327

    // read data link status

   328

    ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);

   329

    fsm->retries = EC_FSM_RETRIES;

   330

    fsm->state = ec_fsm_slave_scan_state_datalink;

   331

}

   332

   333

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

   334

   335

/**

   336

   Slave scan state: DATALINK.

   337

*/

   338

   339

void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)

   340

{

   341

    ec_datagram_t *datagram = fsm->datagram;

   342

    ec_slave_t *slave = fsm->slave;

   343

    uint16_t dl_status;

   344

    unsigned int i;

   345

   346

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   347

        return;

   348

   349

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   350

        fsm->state = ec_fsm_slave_state_error;

   351

        EC_ERR("Failed to receive DL status datagram from slave %i"

   352

                " (datagram state %i).\n",

   353

               slave->ring_position, datagram->state);

   354

        return;

   355

    }

   356

   357

    if (datagram->working_counter != 1) {

   358

        fsm->slave->error_flag = 1;

   359

        fsm->state = ec_fsm_slave_state_error;

   360

        EC_ERR("Failed to read DL status from slave %i: ",

   361

               slave->ring_position);

   362

        ec_datagram_print_wc_error(datagram);

   363

        return;

   364

    }

   365

   366

    dl_status = EC_READ_U16(datagram->data);

   367

    for (i = 0; i < 4; i++) {

   368

        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   369

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   370

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   371

    }

   372

   373

    // Start fetching EEPROM size

   374

   375

    fsm->sii_offset = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header

   376

    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);

   377

    fsm->state = ec_fsm_slave_scan_state_eeprom_size;

   378

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

   379

}

   380

   381

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

   382

   383

/**

   384

   Slave scan state: EEPROM SIZE.

   385

*/

   386

   387

void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)

   388

{

   389

    ec_slave_t *slave = fsm->slave;

   390

    uint16_t cat_type, cat_size;

   391

   392

    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;

   393

   394

    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {

   395

        fsm->slave->error_flag = 1;

   396

        fsm->state = ec_fsm_slave_state_error;

   397

        EC_ERR("Failed to read EEPROM size of slave %i.\n",

   398

               slave->ring_position);

   399

        return;

   400

    }

   401

   402

    cat_type = EC_READ_U16(fsm->fsm_sii.value);

   403

    cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);

   404

   405

    if (cat_type != 0xFFFF) { // not the last category

   406

        fsm->sii_offset += cat_size + 2;

   407

        if (fsm->sii_offset >= EC_MAX_EEPROM_SIZE) {

   408

            EC_WARN("EEPROM size of slave %i exceeds"

   409

                    " %i words (0xffff limiter missing?).\n",

   410

                    slave->ring_position, EC_MAX_EEPROM_SIZE);

   411

            slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;

   412

            goto alloc_eeprom;

   413

        }

   414

        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,

   415

                        EC_FSM_SII_NODE);

   416

        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately

   417

        return;

   418

    }

   419

   420

    slave->eeprom_size = (fsm->sii_offset + 1) * 2;

   421

   422

alloc_eeprom:

   423

    if (slave->eeprom_data) {

   424

        EC_INFO("Freeing old EEPROM data on slave %i...\n",

   425

                slave->ring_position);

   426

        kfree(slave->eeprom_data);

   427

    }

   428

   429

    if (!(slave->eeprom_data =

   430

          (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {

   431

        fsm->slave->error_flag = 1;

   432

        fsm->state = ec_fsm_slave_state_error;

   433

        EC_ERR("Failed to allocate EEPROM data on slave %i.\n",

   434

               slave->ring_position);

   435

        return;

   436

    }

   437

   438

    // Start fetching EEPROM contents

   439

   440

    fsm->state = ec_fsm_slave_scan_state_eeprom_data;

   441

    fsm->sii_offset = 0x0000;

   442

    ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);

   443

    ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately

   444

}

   445

   446

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

   447

   448

/**

   449

   Slave scan state: EEPROM DATA.

   450

*/

   451

   452

void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)

   453

{

   454

    ec_slave_t *slave = fsm->slave;

   455

    uint16_t *cat_word, cat_type, cat_size;

   456

   457

    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;

   458

   459

    if (!ec_fsm_sii_success(&fsm->fsm_sii)) {

   460

        fsm->slave->error_flag = 1;

   461

        fsm->state = ec_fsm_slave_state_error;

   462

        EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",

   463

               slave->ring_position);

   464

        return;

   465

    }

   466

   467

    // 2 words fetched

   468

   469

    if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit

   470

        memcpy(slave->eeprom_data + fsm->sii_offset * 2,

   471

               fsm->fsm_sii.value, 4);

   472

    }

   473

    else { // copy the last word

   474

        memcpy(slave->eeprom_data + fsm->sii_offset * 2,

   475

               fsm->fsm_sii.value, 2);

   476

    }

   477

   478

    if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {

   479

        // fetch the next 2 words

   480

        fsm->sii_offset += 2;

   481

        ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,

   482

                        EC_FSM_SII_NODE);

   483

        ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately

   484

        return;

   485

    }

   486

   487

    // Evaluate EEPROM contents

   488

   489

    slave->sii_alias =

   490

        EC_READ_U16(slave->eeprom_data + 2 * 0x0004);

   491