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

     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

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 *  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

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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

    21

 *  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

    24

 *  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

    29

 *  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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 *

    32

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

    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 "slave_config.h"

    45

#include "fsm_slave.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_sdo_conf(ec_fsm_slave_t *);

    63

void ec_fsm_slave_conf_state_mapping(ec_fsm_slave_t *);

    64

void ec_fsm_slave_conf_state_pdo_conf(ec_fsm_slave_t *);

    65

void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);

    66

void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);

    67

void ec_fsm_slave_conf_state_safeop(ec_fsm_slave_t *);

    68

void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);

    69

    70

void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);

    71

void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);

    72

void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *);

    73

void ec_fsm_slave_conf_enter_mapping(ec_fsm_slave_t *);

    74

void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);

    75

void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);

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void ec_fsm_slave_conf_enter_safeop(ec_fsm_slave_t *);

    77

    78

void ec_fsm_slave_state_end(ec_fsm_slave_t *);

    79

void ec_fsm_slave_state_error(ec_fsm_slave_t *);

    80

    81

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

    82

    83

/** Constructor.

    84

 */

    85

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

    86

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

    87

        )

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{

    89

    fsm->datagram = datagram;

    90

    91

    // init sub state machines

    92

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

    93

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

    94

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

    95

    ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);

    96

    ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);

    97

}

    98

    99

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

   100

   101

/** Destructor.

   102

 */

   103

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

   104

{

   105

    // clear sub state machines

   106

    ec_fsm_sii_clear(&fsm->fsm_sii);

   107

    ec_fsm_change_clear(&fsm->fsm_change);

   108

    ec_fsm_coe_clear(&fsm->fsm_coe);

   109

    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);

   110

    ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);

   111

}

   112

   113

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

   114

   115

/**

   116

 * Start slave scan state machine.

   117

 */

   118

   119

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

   120

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

   121

        )

   122

{

   123

    fsm->slave = slave;

   124

    fsm->state = ec_fsm_slave_scan_state_start;

   125

}

   126

   127

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

   128

   129

/**

   130

 * Start slave configuration state machine.

   131

 */

   132

   133

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

   134

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

   135

        )

   136

{

   137

    fsm->slave = slave;

   138

    fsm->state = ec_fsm_slave_conf_state_start;

   139

}

   140

   141

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

   142

   143

/**

   144

   \return false, if state machine has terminated

   145

*/

   146

   147

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

   148

{

   149

    return fsm->state != ec_fsm_slave_state_end

   150

        && fsm->state != ec_fsm_slave_state_error;

   151

}

   152

   153

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

   154

   155

/**

   156

   Executes the current state of the state machine.

   157

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

   158

   of the state machine is delayed to the next cycle.

   159

   \return false, if state machine has terminated

   160

*/

   161

   162

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

   163

{

   164

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

   165

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

   166

        // datagram was not sent or received yet.

   167

        return ec_fsm_slave_running(fsm);

   168

    }

   169

   170

    fsm->state(fsm);

   171

    return ec_fsm_slave_running(fsm);

   172

}

   173

   174

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

   175

   176

/**

   177

   \return true, if the state machine terminated gracefully

   178

*/

   179

   180

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

   181

{

   182

    return fsm->state == ec_fsm_slave_state_end;

   183

}

   184

   185

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

   186

 *  slave scan state machine

   187

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

   188

   189

/**

   190

   Slave scan state: START.

   191

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

   192

   slave, according to its ring position.

   193

*/

   194

   195

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

   196

{

   197

    // write station address

   198

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

   199

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

   200

    fsm->retries = EC_FSM_RETRIES;

   201

    fsm->state = ec_fsm_slave_scan_state_address;

   202

}

   203

   204

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

   205

   206

/**

   207

   Slave scan state: ADDRESS.

   208

*/

   209

   210

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

   211

{

   212

    ec_datagram_t *datagram = fsm->datagram;

   213

   214

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

   215

        return;

   216

   217

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   218

        fsm->state = ec_fsm_slave_state_error;

   219

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

   220

                " (datagram state %i)\n",

   221

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

   222

        return;

   223

    }

   224

   225

    if (datagram->working_counter != 1) {

   226

        fsm->slave->error_flag = 1;

   227

        fsm->state = ec_fsm_slave_state_error;

   228

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

   229

               fsm->slave->ring_position);

   230

        ec_datagram_print_wc_error(datagram);

   231

        return;

   232

    }

   233

   234

    // Read AL state

   235

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

   236

    fsm->retries = EC_FSM_RETRIES;

   237

    fsm->state = ec_fsm_slave_scan_state_state;

   238

}

   239

   240

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

   241

   242

/**

   243

   Slave scan state: STATE.

   244

*/

   245

   246

void ec_fsm_slave_scan_state_state(

   247

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

   248

        )

   249

{

   250

    ec_datagram_t *datagram = fsm->datagram;

   251

    ec_slave_t *slave = fsm->slave;

   252

   253

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

   254

        return;

   255

   256

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   257

        fsm->state = ec_fsm_slave_state_error;

   258

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

   259

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

   260

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

   261

        return;

   262

    }

   263

   264

    if (datagram->working_counter != 1) {

   265

        fsm->slave->error_flag = 1;

   266

        fsm->state = ec_fsm_slave_state_error;

   267

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

   268

               fsm->slave->ring_position);

   269

        ec_datagram_print_wc_error(datagram);

   270

        return;

   271

    }

   272

   273

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

   274

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   275

        char state_str[EC_STATE_STRING_SIZE];

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        ec_state_string(slave->current_state, state_str);

   277

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

   278

                slave->ring_position, state_str);

   279

    }

   280

   281

    // read base data

   282

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

   283

    fsm->retries = EC_FSM_RETRIES;

   284

    fsm->state = ec_fsm_slave_scan_state_base;

   285

}

   286

   287

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

   288

   289

/**

   290

   Slave scan state: BASE.

   291

*/

   292

   293

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

   294

{

   295

    ec_datagram_t *datagram = fsm->datagram;

   296

    ec_slave_t *slave = fsm->slave;

   297

   298

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

   299

        return;

   300

   301

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   302

        fsm->state = ec_fsm_slave_state_error;

   303

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

   304

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

   305

               slave->ring_position, datagram->state);

   306

        return;

   307

    }

   308

   309

    if (datagram->working_counter != 1) {

   310

        fsm->slave->error_flag = 1;

   311

        fsm->state = ec_fsm_slave_state_error;

   312

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

   313

               slave->ring_position);

   314

        ec_datagram_print_wc_error(datagram);

   315

        return;

   316

    }

   317

   318

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

   319

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

   320

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

   321

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

   322

   323

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   324

        slave->base_fmmu_count = EC_MAX_FMMUS;

   325

   326

    // read data link status

   327

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

   328

    fsm->retries = EC_FSM_RETRIES;

   329

    fsm->state = ec_fsm_slave_scan_state_datalink;

   330

}

   331

   332

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

   333

   334

/**

   335

   Slave scan state: DATALINK.

   336

*/

   337

   338

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

   339

{

   340

    ec_datagram_t *datagram = fsm->datagram;

   341

    ec_slave_t *slave = fsm->slave;

   342

    uint16_t dl_status;

   343

    unsigned int i;

   344

   345

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

   346

        return;

   347

   348

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   349

        fsm->state = ec_fsm_slave_state_error;

   350

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

   351

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

   352

               slave->ring_position, datagram->state);

   353

        return;

   354

    }

   355

   356

    if (datagram->working_counter != 1) {

   357

        fsm->slave->error_flag = 1;

   358

        fsm->state = ec_fsm_slave_state_error;

   359

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

   360

               slave->ring_position);

   361

        ec_datagram_print_wc_error(datagram);

   362

        return;

   363

    }

   364

   365

    dl_status = EC_READ_U16(datagram->data);

   366

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

   367

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

   368

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

   369

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

   370

    }

   371

   372

    // Start fetching EEPROM size

   373

   374

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

   375

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

   376

    fsm->state = ec_fsm_slave_scan_state_eeprom_size;

   377

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

   378

}

   379

   380

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

   381

   382

/**

   383

   Slave scan state: EEPROM SIZE.

   384

*/

   385

   386

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

   387

{

   388

    ec_slave_t *slave = fsm->slave;

   389

    uint16_t cat_type, cat_size;

   390

   391

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

   392

   393

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

   394

        fsm->slave->error_flag = 1;

   395

        fsm->state = ec_fsm_slave_state_error;

   396

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

   397

               slave->ring_position);

   398

        return;

   399

    }

   400

   401

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

   402

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

   403

   404

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

   405

        off_t next_offset = 2UL + fsm->sii_offset + cat_size;

   406

        if (next_offset >= EC_MAX_EEPROM_SIZE) {

   407

            EC_WARN("EEPROM size of slave %i exceeds"

   408

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

   409

                    slave->ring_position, EC_MAX_EEPROM_SIZE);

   410

            // cut off category data...

   411

            slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;

   412

            goto alloc_eeprom;

   413

        }

   414

        fsm->sii_offset = next_offset;

   415

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

   416

                        EC_FSM_SII_NODE);

   417

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

   418

        return;

   419

    }

   420

   421

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

   422

   423

alloc_eeprom:

   424

    if (slave->eeprom_data) {

   425

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

   426

                slave->ring_position);

   427

        kfree(slave->eeprom_data);

   428

    }

   429

   430

    if (!(slave->eeprom_data =

   431

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

   432

        EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",

   433

               slave->eeprom_size, slave->ring_position);

   434

        slave->eeprom_size = 0;

   435

        slave->error_flag = 1;

   436

        fsm->state = ec_fsm_slave_state_error;

   437

        return;

   438

    }

   439

   440

    // Start fetching EEPROM contents

   441

   442

    fsm->state = ec_fsm_slave_scan_state_eeprom_data;

   443

    fsm->sii_offset = 0x0000;

   444

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

   445

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

   446

}

   447

   448

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

   449

   450

/**

   451

   Slave scan state: EEPROM DATA.

   452

*/

   453

   454

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

   455

{

   456

    ec_slave_t *slave = fsm->slave;

   457

    uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;

   458

   459

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

   460

   461

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

   462

        fsm->slave->error_flag = 1;

   463

        fsm->state = ec_fsm_slave_state_error;

   464

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

   465

               slave->ring_position);

   466

        return;

   467

    }

   468

   469

    // 2 words fetched

   470

   471

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

   472

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

   473

               fsm->fsm_sii.value, 4);

   474

    }

   475

    else { // copy the last word

   476

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

   477

               fsm->fsm_sii.value, 2);

   478

    }

   479

   480

    if (fsm->sii_offset + 2 < eeprom_word_size) {

   481

        // fetch the next 2 words

   482

        fsm->sii_offset += 2;

   483

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

   484

                        EC_FSM_SII_NODE);

   485

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

   486

        return;

   487

    }

   488

   489

    // Evaluate EEPROM contents