1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

/** Time difference [ns] to tolerate without setting a new system time offset.

    50

 */

    51

#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000

    52

    53

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

    54

    55

void ec_fsm_master_state_start(ec_fsm_master_t *);

    56

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    57

void ec_fsm_master_state_read_al_status(ec_fsm_master_t *);

    58

#ifdef EC_LOOP_CONTROL

    59

void ec_fsm_master_state_read_dl_status(ec_fsm_master_t *);

    60

void ec_fsm_master_state_open_port(ec_fsm_master_t *);

    61

#endif

    62

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    63

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    64

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    65

#ifdef EC_LOOP_CONTROL

    66

void ec_fsm_master_state_loop_control(ec_fsm_master_t *);

    67

#endif

    68

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    69

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    70

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    71

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    72

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    73

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    74

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    75

    76

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    77

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    78

    79

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

    80

    81

/** Constructor.

    82

 */

    83

void ec_fsm_master_init(

    84

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

    85

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

    86

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

    87

        )

    88

{

    89

    fsm->master = master;

    90

    fsm->datagram = datagram;

    91

    92

    ec_fsm_master_reset(fsm);

    93

    94

    // init sub-state-machines

    95

    ec_fsm_coe_init(&fsm->fsm_coe);

    96

    ec_fsm_soe_init(&fsm->fsm_soe);

    97

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

    98

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

    99

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

   100

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

   101

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

   102

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

   103

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

   104

}

   105

   106

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

   107

   108

/** Destructor.

   109

 */

   110

void ec_fsm_master_clear(

   111

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

   112

        )

   113

{

   114

    // clear sub-state machines

   115

    ec_fsm_coe_clear(&fsm->fsm_coe);

   116

    ec_fsm_soe_clear(&fsm->fsm_soe);

   117

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   118

    ec_fsm_change_clear(&fsm->fsm_change);

   119

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   120

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   121

    ec_fsm_sii_clear(&fsm->fsm_sii);

   122

}

   123

   124

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

   125

   126

/** Reset state machine.

   127

 */

   128

void ec_fsm_master_reset(

   129

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

   130

        )

   131

{

   132

    ec_device_index_t dev_idx;

   133

   134

    fsm->state = ec_fsm_master_state_start;

   135

    fsm->idle = 0;

   136

    fsm->dev_idx = EC_DEVICE_MAIN;

   137

   138

    for (dev_idx = EC_DEVICE_MAIN;

   139

            dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {

   140

        fsm->link_state[dev_idx] = 0;

   141

        fsm->slaves_responding[dev_idx] = 0;

   142

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

   143

    }

   144

   145

    fsm->rescan_required = 0;

   146

}

   147

   148

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

   149

   150

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

   151

 *

   152

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

   153

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

   154

 *

   155

 * \return true, if the state machine was executed

   156

 */

   157

int ec_fsm_master_exec(

   158

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

   159

        )

   160

{

   161

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

   162

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

   163

        // datagram was not sent or received yet.

   164

        return 0;

   165

    }

   166

   167

    fsm->state(fsm);

   168

    return 1;

   169

}

   170

   171

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

   172

   173

/**

   174

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

   175

 */

   176

int ec_fsm_master_idle(

   177

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

   178

        )

   179

{

   180

    return fsm->idle;

   181

}

   182

   183

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

   184

   185

/** Restarts the master state machine.

   186

 */

   187

void ec_fsm_master_restart(

   188

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

   189

        )

   190

{

   191

    fsm->dev_idx = EC_DEVICE_MAIN;

   192

    fsm->state = ec_fsm_master_state_start;

   193

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

   194

}

   195

   196

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

   197

 * Master state machine

   198

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

   199

   200

/** Master state: START.

   201

 *

   202

 * Starts with getting slave count and slave states.

   203

 */

   204

void ec_fsm_master_state_start(

   205

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

   206

        )

   207

{

   208

    ec_master_t *master = fsm->master;

   209

   210

    fsm->idle = 1;

   211

   212

    // check for emergency requests

   213

    if (!list_empty(&master->emerg_reg_requests)) {

   214

        ec_reg_request_t *request;

   215

   216

        // get first request

   217

        request = list_entry(master->emerg_reg_requests.next,

   218

                ec_reg_request_t, list);

   219

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

   220

        request->state = EC_INT_REQUEST_BUSY;

   221

   222

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

   223

            EC_MASTER_ERR(master, "Emergency request data too large!\n");

   224

            request->state = EC_INT_REQUEST_FAILURE;

   225

            wake_up_all(&master->request_queue);

   226

            fsm->state(fsm); // continue

   227

            return;

   228

        }

   229

   230

        if (request->dir != EC_DIR_OUTPUT) {

   231

            EC_MASTER_ERR(master, "Emergency requests must be"

   232

                    " write requests!\n");

   233

            request->state = EC_INT_REQUEST_FAILURE;

   234

            wake_up_all(&master->request_queue);

   235

            fsm->state(fsm); // continue

   236

            return;

   237

        }

   238

   239

        EC_MASTER_DBG(master, 1, "Writing emergency register request...\n");

   240

        ec_datagram_apwr(fsm->datagram, request->ring_position,

   241

                request->address, request->transfer_size);

   242

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

   243

        fsm->datagram->device_index = EC_DEVICE_MAIN;

   244

        request->state = EC_INT_REQUEST_SUCCESS;

   245

        wake_up_all(&master->request_queue);

   246

        return;

   247

    }

   248

   249

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

   250

    ec_datagram_zero(fsm->datagram);

   251

    fsm->datagram->device_index = fsm->dev_idx;

   252

    fsm->state = ec_fsm_master_state_broadcast;

   253

}

   254

   255

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

   256

   257

/** Master state: BROADCAST.

   258

 *

   259

 * Processes the broadcast read slave count and slaves states.

   260

 */

   261

void ec_fsm_master_state_broadcast(

   262

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

   263

        )

   264

{

   265

    ec_datagram_t *datagram = fsm->datagram;

   266

    unsigned int i, size;

   267

    ec_slave_t *slave;

   268

    ec_master_t *master = fsm->master;

   269

   270

    // bus topology change?

   271

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

   272

        fsm->rescan_required = 1;

   273

        fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;

   274

        EC_MASTER_INFO(master, "%u slave(s) responding on %s device.\n",

   275

                fsm->slaves_responding[fsm->dev_idx],

   276

                ec_device_names[fsm->dev_idx != 0]);

   277

    }

   278

   279

    if (fsm->link_state[fsm->dev_idx] &&

   280

            !master->devices[fsm->dev_idx].link_state) {

   281

        ec_device_index_t dev_idx;

   282

   283

        EC_MASTER_DBG(master, 1, "Master state machine detected "

   284

                "link down on %s device. Clearing slave list.\n",

   285

                ec_device_names[fsm->dev_idx != 0]);

   286

   287

#ifdef EC_EOE

   288

        ec_master_eoe_stop(master);

   289

        ec_master_clear_eoe_handlers(master);

   290

#endif

   291

        ec_master_clear_slaves(master);

   292

   293

        for (dev_idx = EC_DEVICE_MAIN;

   294

                dev_idx < ec_master_num_devices(master); dev_idx++) {

   295

            fsm->slave_states[dev_idx] = 0x00;

   296

            fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on

   297

                                                    next link up. */

   298

        }

   299

    }

   300

    fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;

   301

   302

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   303

            fsm->slaves_responding[fsm->dev_idx]) {

   304

        uint8_t states = EC_READ_U8(datagram->data);

   305

        if (states != fsm->slave_states[fsm->dev_idx]) {

   306

            // slave states changed

   307

            char state_str[EC_STATE_STRING_SIZE];

   308

            fsm->slave_states[fsm->dev_idx] = states;

   309

            ec_state_string(states, state_str, 1);

   310

            EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",

   311

                    ec_device_names[fsm->dev_idx != 0], state_str);

   312

        }

   313

    } else {

   314

        fsm->slave_states[fsm->dev_idx] = 0x00;

   315

    }

   316

   317

    fsm->dev_idx++;

   318

    if (fsm->dev_idx < ec_master_num_devices(master)) {

   319

        // check number of responding slaves on next device

   320

        fsm->state = ec_fsm_master_state_start;

   321

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

   322

        return;

   323

    }

   324

   325

    if (fsm->rescan_required) {

   326

        down(&master->scan_sem);

   327

        if (!master->allow_scan) {

   328

            up(&master->scan_sem);

   329

        } else {

   330

            unsigned int count = 0, next_dev_slave, ring_position;

   331

            ec_device_index_t dev_idx;

   332

   333

            master->scan_busy = 1;

   334

            up(&master->scan_sem);

   335

   336

            // clear all slaves and scan the bus

   337

            fsm->rescan_required = 0;

   338

            fsm->idle = 0;

   339

            fsm->scan_jiffies = jiffies;

   340

   341

#ifdef EC_EOE

   342

            ec_master_eoe_stop(master);

   343

            ec_master_clear_eoe_handlers(master);

   344

#endif

   345

            ec_master_clear_slaves(master);

   346

   347

            for (dev_idx = EC_DEVICE_MAIN;

   348

                    dev_idx < ec_master_num_devices(master); dev_idx++) {

   349

                count += fsm->slaves_responding[dev_idx];

   350

            }

   351

   352

            if (!count) {

   353

                // no slaves present -> finish state machine.

   354

                master->scan_busy = 0;

   355

                wake_up_interruptible(&master->scan_queue);

   356

                ec_fsm_master_restart(fsm);

   357

                return;

   358

            }

   359

   360

            size = sizeof(ec_slave_t) * count;

   361

            if (!(master->slaves =

   362

                        (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   363

                EC_MASTER_ERR(master, "Failed to allocate %u bytes"

   364

                        " of slave memory!\n", size);

   365

                master->scan_busy = 0;

   366

                wake_up_interruptible(&master->scan_queue);

   367

                ec_fsm_master_restart(fsm);

   368

                return;

   369

            }

   370

   371

            // init slaves

   372

            dev_idx = EC_DEVICE_MAIN;

   373

            next_dev_slave = fsm->slaves_responding[dev_idx];

   374

            ring_position = 0;

   375

            for (i = 0; i < count; i++, ring_position++) {

   376

                slave = master->slaves + i;

   377

                while (i >= next_dev_slave) {

   378

                    dev_idx++;

   379

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   380

                    ring_position = 0;

   381

                }

   382

   383

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

   384

   385

                // do not force reconfiguration in operation phase to avoid

   386

                // unnecesssary process data interruptions

   387

                if (master->phase != EC_OPERATION) {

   388

                    slave->force_config = 1;

   389

                }

   390

            }

   391

            master->slave_count = count;

   392

            master->fsm_slave = master->slaves;

   393

   394

            /* start with first device with slaves responding; at least one

   395

             * has responding slaves, otherwise count would be zero. */

   396

            fsm->dev_idx = EC_DEVICE_MAIN;

   397

            while (!fsm->slaves_responding[fsm->dev_idx]) {

   398

                fsm->dev_idx++;

   399

            }

   400

   401

            ec_fsm_master_enter_clear_addresses(fsm);

   402

            return;

   403

        }

   404

    }

   405

   406

    if (master->slave_count) {

   407

   408

        // application applied configurations

   409

        if (master->config_changed) {

   410

            master->config_changed = 0;

   411

   412

            EC_MASTER_DBG(master, 1, "Configuration changed.\n");

   413

   414

            fsm->slave = master->slaves; // begin with first slave

   415

            ec_fsm_master_enter_write_system_times(fsm);

   416

   417

        } else {

   418

            // fetch state from first slave

   419

            fsm->slave = master->slaves;

   420

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

   421

                    0x0130, 2);

   422

            ec_datagram_zero(datagram);

   423

            fsm->datagram->device_index = fsm->slave->device_index;

   424

            fsm->retries = EC_FSM_RETRIES;

   425

            fsm->state = ec_fsm_master_state_read_al_status;

   426

        }

   427

    } else {

   428

        ec_fsm_master_restart(fsm);

   429

    }

   430

}

   431

   432

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

   433

   434

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

   435

 *

   436

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

   437

 */

   438

int ec_fsm_master_action_process_sii(

   439

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

   440

        )

   441

{

   442

    ec_master_t *master = fsm->master;

   443

    ec_sii_write_request_t *request;

   444

   445

    // search the first request to be processed

   446

    while (1) {

   447

        if (list_empty(&master->sii_requests))

   448

            break;

   449

   450

        // get first request

   451

        request = list_entry(master->sii_requests.next,

   452

                ec_sii_write_request_t, list);

   453

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

   454

        request->state = EC_INT_REQUEST_BUSY;

   455

   456

        // found pending SII write operation. execute it!

   457

        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");

   458

        fsm->sii_request = request;

   459

        fsm->sii_index = 0;

   460

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

   461

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   462

        fsm->state = ec_fsm_master_state_write_sii;

   463

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

   464

        return 1;

   465

    }

   466

   467

    return 0;

   468

}

   469

   470

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

   471

   472

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

   473

 *

   474

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

   475

 */

   476

int ec_fsm_master_action_process_sdo(

   477

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

   478

        )

   479

{

   480

    ec_master_t *master = fsm->master;

   481

    ec_slave_t *slave;

   482

    ec_sdo_request_t *req;

   483

   484

    // search for internal requests to be processed

   485

    for (slave = master->slaves;

   486

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