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_state(ec_fsm_master_t *);

    58

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    59

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    60

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    61

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    62

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    63

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    64

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    65

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    66

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    67

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    68

    69

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    70

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_master_init(

    77

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

    78

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

    79

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

    80

        )

    81

{

    82

    fsm->master = master;

    83

    fsm->datagram = datagram;

    86

    87

    // init sub-state-machines

    88

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

    89

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

    90

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

    91

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

    92

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

    93

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

    94

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

    95

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

    96

}

    97

    98

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

    99

   100

/** Destructor.

   101

 */

   102

void ec_fsm_master_clear(

   103

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

   104

        )

   105

{

   106

    // clear sub-state machines

   107

    ec_fsm_coe_clear(&fsm->fsm_coe);

   108

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   109

    ec_fsm_change_clear(&fsm->fsm_change);

   110

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   111

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   112

    ec_fsm_sii_clear(&fsm->fsm_sii);

   113

}

   114

   115

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

   116

   141

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

   142

 *

   143

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

   144

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

   145

 *

   146

 * \return true, if the state machine was executed

   147

 */

   148

int ec_fsm_master_exec(

   149

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

   150

        )

   151

{

   152

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

   153

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

   154

        // datagram was not sent or received yet.

   155

        return 0;

   156

    }

   157

   158

    fsm->state(fsm);

   159

    return 1;

   160

}

   161

   162

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

   163

   164

/**

   165

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

   166

 */

   167

int ec_fsm_master_idle(

   168

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

   169

        )

   170

{

   171

    return fsm->idle;

   172

}

   173

   174

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

   175

   176

/** Restarts the master state machine.

   177

 */

   178

void ec_fsm_master_restart(

   179

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

   180

        )

   181

{

   182

    fsm->dev_idx = EC_DEVICE_MAIN;

   183

    fsm->state = ec_fsm_master_state_start;

   184

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

   185

}

   186

   187

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

   188

 * Master state machine

   189

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

   190

   191

/** Master state: START.

   192

 *

   193

 * Starts with getting slave count and slave states.

   194

 */

   195

void ec_fsm_master_state_start(

   196

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

   197

        )

   198

{

   199

    fsm->idle = 1;

   200

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

   201

    ec_datagram_zero(fsm->datagram);

   202

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

   203

    fsm->state = ec_fsm_master_state_broadcast;

   204

}

   205

   206

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

   207

   208

/** Master state: BROADCAST.

   209

 *

   210

 * Processes the broadcast read slave count and slaves states.

   211

 */

   212

void ec_fsm_master_state_broadcast(

   213

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

   214

        )

   215

{

   216

    ec_datagram_t *datagram = fsm->datagram;

   217

    unsigned int i, size;

   218

    ec_slave_t *slave;

   219

    ec_master_t *master = fsm->master;

   220

   221

    // bus topology change?

   222

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

   223

        fsm->rescan_required = 1;

   224

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

   225

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

   226

                fsm->slaves_responding[fsm->dev_idx],

   227

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

   228

    }

   229

   230

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

   231

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

   232

        ec_device_index_t dev_idx;

   233

   234

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

   235

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

   236

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

   237

   238

#ifdef EC_EOE

   239

        ec_master_eoe_stop(master);

   240

        ec_master_clear_eoe_handlers(master);

   241

#endif

   242

        ec_master_clear_slaves(master);

   243

   244

        for (dev_idx = EC_DEVICE_MAIN;

   245

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

   246

            fsm->slave_states[dev_idx] = 0x00;

   247

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

   248

                                                    next link up. */

   249

        }

   250

    }

   251

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

   252

   253

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   254

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

   255

        uint8_t states = EC_READ_U8(datagram->data);

   256

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

   257

            // slave states changed

   258

            char state_str[EC_STATE_STRING_SIZE];

   259

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

   260

            ec_state_string(states, state_str, 1);

   261

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

   262

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

   263

        }

   264

    } else {

   265

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

   266

    }

   267

   268

    fsm->dev_idx++;

   269

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

   270

        // check number of responding slaves on next device

   271

        fsm->state = ec_fsm_master_state_start;

   272

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

   273

        return;

   274

    }

   275

   276

    if (fsm->rescan_required) {

   277

        down(&master->scan_sem);

   278

        if (!master->allow_scan) {

   279

            up(&master->scan_sem);

   280

        } else {

   281

            unsigned int count = 0, next_dev_slave, ring_position;

   282

            ec_device_index_t dev_idx;

   283

   284

            master->scan_busy = 1;

   285

            up(&master->scan_sem);

   286

   287

            // clear all slaves and scan the bus

   288

            fsm->rescan_required = 0;

   289

            fsm->idle = 0;

   290

            fsm->scan_jiffies = jiffies;

   291

   292

#ifdef EC_EOE

   293

            ec_master_eoe_stop(master);

   294

            ec_master_clear_eoe_handlers(master);

   295

#endif

   296

            ec_master_clear_slaves(master);

   297

   298

            for (dev_idx = EC_DEVICE_MAIN;

   299

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

   300

                count += fsm->slaves_responding[dev_idx];

   301

            }

   302

   303

            if (!count) {

   304

                // no slaves present -> finish state machine.

   305

                master->scan_busy = 0;

   306

                wake_up_interruptible(&master->scan_queue);

   307

                ec_fsm_master_restart(fsm);

   308

                return;

   309

            }

   310

   311

            size = sizeof(ec_slave_t) * count;

   312

            if (!(master->slaves =

   313

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

   314

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

   315

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

   316

                master->scan_busy = 0;

   317

                wake_up_interruptible(&master->scan_queue);

   318

                ec_fsm_master_restart(fsm);

   319

                return;

   320

            }

   321

   322

            // init slaves

   323

            dev_idx = EC_DEVICE_MAIN;

   324

            next_dev_slave = fsm->slaves_responding[dev_idx];

   325

            ring_position = 0;

   326

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

   327

                slave = master->slaves + i;

   328

                while (i >= next_dev_slave) {

   329

                    dev_idx++;

   330

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   331

                    ring_position = 0;

   332

                }

   333

   334

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

   335

   336

                // do not force reconfiguration in operation phase to avoid

   337

                // unnecesssary process data interruptions

   338

                if (master->phase != EC_OPERATION) {

   339

                    slave->force_config = 1;

   340

                }

   341

            }

   342

            master->slave_count = count;

   343

   344

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

   345

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

   346

            fsm->dev_idx = EC_DEVICE_MAIN;

   347

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

   348

                fsm->dev_idx++;

   349

            }

   350

   351

            ec_fsm_master_enter_clear_addresses(fsm);

   352

            return;

   353

        }

   354

    }

   355

   356

    if (master->slave_count) {

   357

   358

        // application applied configurations

   359

        if (master->config_changed) {

   360

            master->config_changed = 0;

   361

   362

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

   363

   364

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

   365

            ec_fsm_master_enter_write_system_times(fsm);

   366

   367

        } else {

   368

            // fetch state from first slave

   369

            fsm->slave = master->slaves;

   370

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

   371

                    0x0130, 2);

   372

            ec_datagram_zero(datagram);

   373

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

   374

            fsm->retries = EC_FSM_RETRIES;

   375

            fsm->state = ec_fsm_master_state_read_state;

   376

        }

   377

    } else {

   378

        ec_fsm_master_restart(fsm);

   379

    }

   380

}

   381

   382

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

   383

   384

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

   385

 *

   386

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

   387

 */

   388

int ec_fsm_master_action_process_sii(

   389

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

   390

        )

   391

{

   392

    ec_master_t *master = fsm->master;

   393

    ec_sii_write_request_t *request;

   394

   395

    // search the first request to be processed

   396

    while (1) {

   397

        if (list_empty(&master->sii_requests))

   398

            break;

   399

   400

        // get first request

   401

        request = list_entry(master->sii_requests.next,

   402

                ec_sii_write_request_t, list);

   403

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

   404

        request->state = EC_INT_REQUEST_BUSY;

   405

   406

        // found pending SII write operation. execute it!

   407

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

   408

        fsm->sii_request = request;

   409

        fsm->sii_index = 0;

   410

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

   411

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   412

        fsm->state = ec_fsm_master_state_write_sii;

   413

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

   414

        return 1;

   415

    }

   416

   417

    return 0;

   418

}

   419

   420

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

   421

   422

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

   423

 *

   424

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

   425

 */

   426

int ec_fsm_master_action_process_sdo(

   427

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

   428

        )

   429

{

   430

    ec_master_t *master = fsm->master;

   431

    ec_slave_t *slave;

   432

    ec_sdo_request_t *req;

   433

   434

    // search for internal requests to be processed

   435

    for (slave = master->slaves;

   436

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

   437

            slave++) {

   438

        if (!slave->config)

   439

            continue;

   440

        list_for_each_entry(req, &slave->config->sdo_requests, list) {

   441

            if (req->state == EC_INT_REQUEST_QUEUED) {

   442

   443

                if (ec_sdo_request_timed_out(req)) {

   444

                    req->state = EC_INT_REQUEST_FAILURE;

   445

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   446

                            " timed out.\n");

   447

                    continue;

   448

                }

   449

   450

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   451

                    req->state = EC_INT_REQUEST_FAILURE;

   452

                    continue;

   453

                }

   454

   455

                req->state = EC_INT_REQUEST_BUSY;

   456

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   457

                        " SDO request...\n");

   458

                fsm->idle = 0;

   459

                fsm->sdo_request = req;

   460

                fsm->slave = slave;

   461

                fsm->state = ec_fsm_master_state_sdo_request;

   462

                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);

   463

                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   464

                return 1;

   465

            }

   466

        }

   467

    }

   468

    return 0;

   469

}

   470

   471

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

   472

   473

/** Master action: IDLE.

   474

 *

   475

 * Does secondary work.

   476

 */

   477

void ec_fsm_master_action_idle(

   478

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

   479

        )

   480

{

   481

    ec_master_t *master = fsm->master;

   482

    ec_slave_t *slave;

   483

   484

    // Check for pending internal SDO requests

   485

    if (ec_fsm_master_action_process_sdo(fsm)) {