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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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 *

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 *  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.

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 *

    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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 *

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

    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

    46

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

    47

    48

void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);

    49

void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);

    50

void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);

    51

void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);

    52

void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);

    53

void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);

    54

void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);

    55

    56

void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);

    57

void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);

    58

void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);

    59

void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *);

    60

void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);

    61

void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);

    62

void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);

    63

void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);

    64

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 *);

    66

    67

void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);

    68

void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);

    69

void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);

    70

void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);

    71

void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);

    72

void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);

    73

    74

void ec_fsm_slave_state_end(ec_fsm_slave_t *);

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void ec_fsm_slave_state_error(ec_fsm_slave_t *);

    76

    77

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

    78

    79

/**

    80

   Constructor.

    81

*/

    82

    83

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

    84

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

    85

        )

    86

{

    87

    fsm->datagram = datagram;

    88

    89

    // init sub state machines

    90

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

    91

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

    92

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

    93

}

    94

    95

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

    96

    97

/**

    98

   Destructor.

    99

*/

   100

   101

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

   102

{

   103

    // clear sub state machines

   104

    ec_fsm_sii_clear(&fsm->fsm_sii);

   105

    ec_fsm_change_clear(&fsm->fsm_change);

   106

    ec_fsm_coe_clear(&fsm->fsm_coe);

   107

}

   108

   109

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

   110

   111

/**

   112

 * Start slave scan state machine.

   113

 */

   114

   115

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

   116

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

   117

        )

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{

   119

    fsm->slave = slave;

   120

    fsm->state = ec_fsm_slave_scan_state_start;

   121

}

   122

   123

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

   124

   125

/**

   126

 * Start slave configuration state machine.

   127

 */

   128

   129

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

   130

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

   131

        )

   132

{

   133

    fsm->slave = slave;

   134

    fsm->state = ec_fsm_slave_conf_state_start;

   135

}

   136

   137

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

   138

   139

/**

   140

   \return false, if state machine has terminated

   141

*/

   142

   143

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

   144

{

   145

    return fsm->state != ec_fsm_slave_state_end

   146

        && fsm->state != ec_fsm_slave_state_error;

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}

   148

   149

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

   150

   151

/**

   152

   Executes the current state of the state machine.

   153

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

   154

   of the state machine is delayed to the next cycle.

   155

   \return false, if state machine has terminated

   156

*/

   157

   158

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

   159

{

   160

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

   161

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

   162

        // datagram was not sent or received yet.

   163

        return ec_fsm_slave_running(fsm);

   164

    }

   165

   166

    fsm->state(fsm);

   167

    return ec_fsm_slave_running(fsm);

   168

}

   169

   170

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

   171

   172

/**

   173

   \return true, if the state machine terminated gracefully

   174

*/

   175

   176

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

   177

{

   178

    return fsm->state == ec_fsm_slave_state_end;

   179

}

   180

   181

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

   182

 *  slave scan state machine

   183

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

   184

   185

/**

   186

   Slave scan state: START.

   187

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

   188

   slave, according to its ring position.

   189

*/

   190

   191

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

   192

{

   193

    // write station address

   194

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

   195

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

   196

    ec_master_queue_datagram(fsm->slave->master, fsm->datagram);

   197

    fsm->retries = EC_FSM_RETRIES;

   198

    fsm->state = ec_fsm_slave_scan_state_address;

   199

}

   200

   201

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

   202

   203

/**

   204

   Slave scan state: ADDRESS.

   205

*/

   206

   207

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

   208

{

   209

    ec_datagram_t *datagram = fsm->datagram;

   210

   211

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

   212

        ec_master_queue_datagram(fsm->slave->master, fsm->datagram);

   213

        return;

   214

    }

   215

   216

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   217

        fsm->state = ec_fsm_slave_state_error;

   218

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

   219

                " (datagram state %i)\n",

   220

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

   221

        return;

   222

    }

   223

   224

    if (datagram->working_counter != 1) {

   225

        fsm->slave->error_flag = 1;

   226

        fsm->state = ec_fsm_slave_state_error;

   227

        EC_ERR("Failed to write station address - slave %i did not respond.\n",

   228

               fsm->slave->ring_position);

   229

        return;

   230

    }

   231

   232

    // Read AL state

   233

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

   234

    ec_master_queue_datagram(fsm->slave->master, datagram);

   235

    fsm->retries = EC_FSM_RETRIES;

   236

    fsm->state = ec_fsm_slave_scan_state_state;

   237

}

   238

   239

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

   240

   241

/**

   242

   Slave scan state: STATE.

   243

*/

   244

   245

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

   246

{

   247

    ec_datagram_t *datagram = fsm->datagram;

   248

    ec_slave_t *slave = fsm->slave;

   249

   250

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

   251

        ec_master_queue_datagram(fsm->slave->master, datagram);

   252

        return;

   253

    }

   254

   255

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   256

        fsm->state = ec_fsm_slave_state_error;

   257

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

   258

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

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

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        return;

   261

    }

   262

   263

    if (datagram->working_counter != 1) {

   264

        fsm->slave->error_flag = 1;

   265

        fsm->state = ec_fsm_slave_state_error;

   266

        EC_ERR("Failed to read AL state - slave %i did not respond.\n",

   267

               fsm->slave->ring_position);

   268

        return;

   269

    }

   270

   271

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

   272

    if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   273

        char state_str[EC_STATE_STRING_SIZE];

   274

        ec_state_string(slave->current_state, state_str);

   275

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

   276

                slave->ring_position, state_str);

   277

    }

   278

   279

    // read base data

   280

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

   281

    ec_master_queue_datagram(fsm->slave->master, datagram);

   282

    fsm->retries = EC_FSM_RETRIES;

   283

    fsm->state = ec_fsm_slave_scan_state_base;

   284

}

   285

   286

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

   287

   288

/**

   289

   Slave scan state: BASE.

   290

*/

   291

   292

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

   293

{

   294

    ec_datagram_t *datagram = fsm->datagram;

   295

    ec_slave_t *slave = fsm->slave;

   296

   297

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

   298

        ec_master_queue_datagram(fsm->slave->master, datagram);

   299

        return;

   300

    }

   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 - slave %i did not respond.\n",

   314

               slave->ring_position);

   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

    ec_master_queue_datagram(slave->master, datagram);

   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

        ec_master_queue_datagram(fsm->slave->master, datagram);

   348

        return;

   349

    }

   350

   351

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   352

        fsm->state = ec_fsm_slave_state_error;

   353

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

   354

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

   355

               slave->ring_position, datagram->state);

   356

        return;

   357

    }

   358

   359

    if (datagram->working_counter != 1) {

   360

        fsm->slave->error_flag = 1;

   361

        fsm->state = ec_fsm_slave_state_error;

   362

        EC_ERR("Failed to read DL status - slave %i did not respond.\n",

   363

               slave->ring_position);

   364

        return;

   365

    }

   366

   367

    dl_status = EC_READ_U16(datagram->data);

   368

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

   369

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

   370

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

   371

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

   372

    }

   373

   374

    // Start fetching EEPROM size

   375

   376

    fsm->sii_offset = 0x0040; // first category header

   377

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

   378

    fsm->state = ec_fsm_slave_scan_state_eeprom_size;

   379

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

   380

}

   381

   382

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

   383

   384

/**

   385

   Slave scan state: EEPROM SIZE.

   386

*/

   387

   388

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

   389

{

   390

    ec_slave_t *slave = fsm->slave;

   391

    uint16_t cat_type, cat_size;

   392

   393

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

   394

   395

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

   396

        fsm->slave->error_flag = 1;

   397

        fsm->state = ec_fsm_slave_state_error;

   398

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

   399

               slave->ring_position);

   400

        return;

   401

    }

   402

   403

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

   404

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

   405

   406

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

   407

        fsm->sii_offset += cat_size + 2;

   408

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

   409

                        EC_FSM_SII_NODE);

   410

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

   411

        return;

   412

    }

   413

   414

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

   415

   416

    if (slave->eeprom_data) {

   417

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

   418

                slave->ring_position);

   419

        kfree(slave->eeprom_data);

   420

    }

   421

   422

    if (!(slave->eeprom_data =

   423

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

   424

        fsm->slave->error_flag = 1;

   425

        fsm->state = ec_fsm_slave_state_error;

   426

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

   427

               slave->ring_position);

   428

        return;

   429

    }

   430

   431

    // Start fetching EEPROM contents

   432

   433

    fsm->state = ec_fsm_slave_scan_state_eeprom_data;

   434

    fsm->sii_offset = 0x0000;

   435

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

   436

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

   437

}

   438

   439

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

   440

   441

/**

   442

   Slave scan state: EEPROM DATA.

   443

*/

   444

   445

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

   446

{

   447

    ec_slave_t *slave = fsm->slave;

   448

    uint16_t *cat_word, cat_type, cat_size;

   449

   450

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

   451

   452

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

   453

        fsm->slave->error_flag = 1;

   454

        fsm->state = ec_fsm_slave_state_error;

   455

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

   456

               slave->ring_position);

   457

        return;

   458

    }

   459

   460

    // 2 words fetched

   461

   462

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

   463

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

   464

               fsm->fsm_sii.value, 4);

   465

    }

   466

    else { // copy the last word

   467

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

   468

               fsm->fsm_sii.value, 2);

   469

    }

   470

   471

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

   472

        // fetch the next 2 words

   473

        fsm->sii_offset += 2;

   474

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

   475

                        EC_FSM_SII_NODE);

   476

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

   477

        return;

   478

    }

   479

   480

    // Evaluate EEPROM contents

   481

   482

    slave->sii_alias =

   483

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

   484

    slave->sii_vendor_id =

   485

        EC_READ_U32(slave->eeprom_data + 2 * 0x0008);

   486

    slave->sii_product_code =

   487

        EC_READ_U32(slave->eeprom_data + 2 * 0x000A);

   488

    slave->sii_revision_number =

   489

        EC_READ_U32(slave->eeprom_data + 2 * 0x000C);

   490

    slave->sii_serial_number =

   491

        EC_READ_U32(slave->eeprom_data + 2 * 0x000E);

   492