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

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 *

     3

 *  $Id$

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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

    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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 *

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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.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

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#include "master.h"

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    45

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

    46

    47

#define EC_CAT_MEM 0x100

    48

    49

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

    50

    51

const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_fsm_master_start(ec_fsm_t *);

    56

void ec_fsm_master_wait(ec_fsm_t *);

    57

void ec_fsm_master_scan(ec_fsm_t *);

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void ec_fsm_master_conf(ec_fsm_t *);

    59

    60

void ec_fsm_slave_start_reading(ec_fsm_t *);

    61

void ec_fsm_slave_read_base(ec_fsm_t *);

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void ec_fsm_slave_read_dl(ec_fsm_t *);

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void ec_fsm_slave_prepare_sii(ec_fsm_t *);

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void ec_fsm_slave_read_sii(ec_fsm_t *);

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void ec_fsm_slave_category_header(ec_fsm_t *);

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void ec_fsm_slave_category_data(ec_fsm_t *);

    67

void ec_fsm_slave_conf(ec_fsm_t *);

    68

void ec_fsm_slave_end(ec_fsm_t *);

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    70

void ec_fsm_slave_conf(ec_fsm_t *);

    71

void ec_fsm_slave_sync(ec_fsm_t *);

    72

void ec_fsm_slave_preop(ec_fsm_t *);

    73

void ec_fsm_slave_fmmu(ec_fsm_t *);

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void ec_fsm_slave_saveop(ec_fsm_t *);

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void ec_fsm_slave_op(ec_fsm_t *);

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void ec_fsm_slave_op2(ec_fsm_t *);

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    78

void ec_fsm_sii_start_reading(ec_fsm_t *);

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void ec_fsm_sii_check(ec_fsm_t *);

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void ec_fsm_sii_fetch(ec_fsm_t *);

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void ec_fsm_sii_finished(ec_fsm_t *);

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void ec_fsm_sii_error(ec_fsm_t *);

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    84

void ec_fsm_change_start(ec_fsm_t *);

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void ec_fsm_change_check(ec_fsm_t *);

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void ec_fsm_change_status(ec_fsm_t *);

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void ec_fsm_change_code(ec_fsm_t *);

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void ec_fsm_change_ack(ec_fsm_t *);

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void ec_fsm_change_ack2(ec_fsm_t *);

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void ec_fsm_change_end(ec_fsm_t *);

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void ec_fsm_change_error(ec_fsm_t *);

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    93

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

    94

    95

int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)

    96

{

    97

    fsm->master = master;

    98

    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

   100

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   101

    fsm->slave_cat_data = NULL;

   102

   103

    ec_command_init(&fsm->command);

   104

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

   105

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

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        return -1;

   107

    }

   108

   109

    return 0;

   110

}

   111

   112

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

   113

   114

void ec_fsm_clear(ec_fsm_t *fsm)

   115

{

   116

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

   117

    ec_command_clear(&fsm->command);

   118

}

   119

   120

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

   121

   122

void ec_fsm_reset(ec_fsm_t *fsm)

   123

{

   124

    fsm->master_state = ec_fsm_master_start;

   125

    fsm->master_slaves_responding = 0;

   126

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   127

   128

    if (fsm->slave_cat_data) {

   129

        kfree(fsm->slave_cat_data);

   130

        fsm->slave_cat_data = NULL;

   131

    }

   132

}

   133

   134

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

   135

   136

void ec_fsm_execute(ec_fsm_t *fsm)

   137

{

   138

    fsm->master_state(fsm);

   139

}

   140

   141

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

   142

 *  master state machine

   143

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

   144

   145

/**

   146

   State: Start.

   147

   Starts with getting slave count and slave states.

   148

*/

   149

   150

void ec_fsm_master_start(ec_fsm_t *fsm)

   151

{

   152

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

   153

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

   154

    fsm->master_state = ec_fsm_master_wait;

   155

}

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   157

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

   158

   159

void ec_fsm_master_wait(ec_fsm_t *fsm)

   160

{

   161

    ec_command_t *command = &fsm->command;

   162

    unsigned int topology_change, i, eoe_slaves_active;

   163

    ec_slave_t *slave;

   164

   165

    if (command->state != EC_CMD_RECEIVED) {

   169

        fsm->master_state = ec_fsm_master_start;

   170

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

   171

        return;

   172

    }

   173

   174

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

   175

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

   176

    {

   177

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

   178

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

   179

            if (slave->state_error ||

   180

                slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   181

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

   182

   183

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

   184

            ec_print_states(slave->current_state);

   185

            printk(" to ");

   186

            ec_print_states(slave->requested_state);

   187

            printk(".\n");

   188

   189

            fsm->slave = slave;

   190

            fsm->slave_state = ec_fsm_slave_conf;

   191

   192

            fsm->change_new = EC_SLAVE_STATE_INIT;

   193

            fsm->change_state = ec_fsm_change_start;

   194

   195

            fsm->master_state = ec_fsm_master_conf;

   196

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

   197

            return;

   198

        }

   199

   200

        // nothing to configure...

   201

        eoe_slaves_active = 0;

   202

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

   203

            if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {

   204

                eoe_slaves_active++;

   205

            }

   206

        }

   207

   208

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

   209

            ec_master_eoe_start(fsm->master);

   210

   211

        fsm->master_state = ec_fsm_master_start;

   212

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

   213

        return;

   214

    }

   215

   216

    topology_change = command->working_counter !=

   217

        fsm->master_slaves_responding;

   218

   219

    fsm->master_slaves_responding = command->working_counter;

   220

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

   221

   222

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

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

   224

    ec_print_states(fsm->master_slave_states);

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    printk(")\n");

   226

   227

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

   228

        fsm->master_state = ec_fsm_master_start;

   229

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

   230

        return;

   231

    }

   232

   233

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

   234

   235

    ec_master_eoe_stop(fsm->master);

   236

    ec_master_clear_slaves(fsm->master);

   237

   238

    if (!fsm->master_slaves_responding) {

   239

        // no slaves present -> finish state machine.

   240

        fsm->master_state = ec_fsm_master_start;

   241

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

   242

        return;

   243

    }

   244

   245

    // init slaves

   246

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

   247

        if (!(slave =

   248

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

   249

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

   250

            fsm->master_state = ec_fsm_master_start;

   251

            return;

   252

        }

   253

   254

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

   255

            fsm->master_state = ec_fsm_master_start;

   256

            return;

   257

        }

   258

   259

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

   260

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

   261

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

   262

            fsm->master_state = ec_fsm_master_start;

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            return;

   264

        }

   265

   266

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

   267

    }

   268

   269

    // begin scanning of slaves

   270

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

   271

    fsm->slave_state = ec_fsm_slave_start_reading;

   272

   273

    fsm->master_state = ec_fsm_master_scan;

   274

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

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}

   276

   277

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

   278

   279

/**

   280

   State: Get Slave.

   281

   Executes the sub-statemachine of a slave.

   282

*/

   283

   284

void ec_fsm_master_scan(ec_fsm_t *fsm)

   285

{

   286

    ec_master_t *master = fsm->master;

   287

    ec_slave_t *slave = fsm->slave;

   288

   289

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

   290

   291

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

   292

   293

    // have all slaves been fetched?

   294

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

   295

    {

   296

        uint16_t coupler_index, coupler_subindex;

   297

        uint16_t reverse_coupler_index, current_coupler_index;

   298

        ec_slave_t *slave;

   299

        ec_slave_ident_t *ident;

   300

   301

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

   302

   303

        // identify all slaves and calculate coupler addressing

   304

   305

        coupler_index = 0;

   306

        reverse_coupler_index = 0xFFFF;

   307

        current_coupler_index = 0x3FFF;

   308

        coupler_subindex = 0;

   309

   310

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

   311

        {

   312

            // search for identification in "database"

   313

            ident = slave_idents;

   314

            while (ident->type) {

   315

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

   316

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

   317

                    slave->type = ident->type;

   318

                    break;

   319

                }

   320

                ident++;

   321

            }

   322

   323

            if (!slave->type) {

   324

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

   325

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

   326

                        slave->sii_vendor_id, slave->sii_product_code,

   327

                        slave->ring_position);

   328

            }

   329

            else {

   330

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

   331

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

   332

                    if (slave->sii_alias)

   333

                        current_coupler_index = reverse_coupler_index--;

   334

                    else

   335

                        current_coupler_index = coupler_index++;

   336

                    coupler_subindex = 0;

   337

                }

   338

            }

   339

   340

            // determine initial state.

   341

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

   342

                slave->requested_state = EC_SLAVE_STATE_OP;

   343

            }

   344

            else {

   345

                if (master->mode == EC_MASTER_MODE_RUNNING)

   346

                    slave->requested_state = EC_SLAVE_STATE_PREOP;

   347

                else

   348

                    slave->requested_state = EC_SLAVE_STATE_INIT;

   349

            }

   350

   351

            // calculate coupler-based slave address

   352

            slave->coupler_index = current_coupler_index;

   353

            slave->coupler_subindex = coupler_subindex;

   354

            coupler_subindex++;

   355

        }

   356

   357

        fsm->master_state = ec_fsm_master_start;

   358

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

   359

        return;

   360

    }

   361

   362

    // process next slave

   363

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

   364

    fsm->slave_state = ec_fsm_slave_start_reading;

   365

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

   366

}

   367

   368

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

   369

   370

/**

   371

   Free-Run state: Configure slaves.

   372

*/

   373

   374

void ec_fsm_master_conf(ec_fsm_t *fsm)

   375

{

   376

    ec_master_t *master = fsm->master;

   377

    ec_slave_t *slave;

   378

   379

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

   380

   381

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

   382

   383

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

   384

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

   385

        if (slave->state_error ||

   386

            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   387

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

   388

   389

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

   390

        ec_print_states(slave->current_state);

   391

        printk(" to ");

   392

        ec_print_states(slave->requested_state);

   393

        printk(".\n");

   394

   395

        fsm->slave = slave;

   396

        fsm->slave_state = ec_fsm_slave_conf;

   397

   398

        fsm->change_new = EC_SLAVE_STATE_INIT;

   399

        fsm->change_state = ec_fsm_change_start;

   400

   401

        fsm->master_state = ec_fsm_master_conf;

   402

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

   403

        return;

   404

    }

   405

   406

    fsm->master_state = ec_fsm_master_start;

   407

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

   408

}

   409

   410

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

   411

 *  slave state machine

   412

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

   413

   414

/**

   415

   Slave state: Start.

   416

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

   417

   slave, according to its ring position.

   418

*/

   419

   420

void ec_fsm_slave_start_reading(ec_fsm_t *fsm)

   421

{

   422

    ec_command_t *command = &fsm->command;

   423

   424

    // write station address

   425

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

   426

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

   427

    ec_master_queue_command(fsm->master, command);

   428

    fsm->slave_state = ec_fsm_slave_read_base;

   429

}

   430

   431

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

   432

   433

/**

   434

   Slave state: Read base.

   435

*/

   436

   437

void ec_fsm_slave_read_base(ec_fsm_t *fsm)

   438

{

   439

    ec_command_t *command = &fsm->command;

   440

   441

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

   442

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

   443

               fsm->slave->ring_position);

   444

        fsm->slave_state = ec_fsm_slave_end;

   445

        return;

   446

    }

   447

   448

    // read base data

   449

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

   450

    ec_master_queue_command(fsm->master, command);

   451

    fsm->slave_state = ec_fsm_slave_read_dl;

   452

}

   453

   454

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

   455

   456

/**

   457

   Slave state: Read DL.

   458

*/

   459

   460

void ec_fsm_slave_read_dl(ec_fsm_t *fsm)

   461

{

   462

    ec_command_t *command = &fsm->command;

   463

    ec_slave_t *slave = fsm->slave;

   464

   465

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

   466

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

   467

               slave->ring_position);

   468

        fsm->slave_state = ec_fsm_slave_end;

   469

        return;

   470

    }

   471

   472

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

   473

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

   474

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

   475

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

   476

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   477

   478

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   479

        slave->base_fmmu_count = EC_MAX_FMMUS;

   480

   481

    // read data link status

   482

    ec_command_nprd(command, slave->station_address, 0x0110, 2);

   483

    ec_master_queue_command(slave->master, command);

   484

    fsm->slave_state = ec_fsm_slave_prepare_sii;

   485

}

   486

   487

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

   488

   489

/**

   490

   Slave state: Prepare SII.

   491

*/

   492

   493

void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)

   494

{

   495

    ec_command_t *command = &fsm->command;

   496

    ec_slave_t *slave = fsm->slave;

   497

    uint16_t dl_status;

   498

    unsigned int i;

   499

   500

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

   501

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

   502

               slave->ring_position);

   503

        fsm->slave_state = ec_fsm_slave_end;

   504

        return;

   505

    }

   506

   507

    dl_status = EC_READ_U16(command->data);

   508

   509

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

   510

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

   511

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

   512

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

   513

    }