1

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

     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

    12

 *  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

    17

 *  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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/** \file

    35

 * EtherCAT master state machine.

    36

 */

    37

    38

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

    39

    40

#include "globals.h"

    41

#include "master.h"

    42

#include "mailbox.h"

    43

#include "slave_config.h"

    44

#ifdef EC_EOE

    45

#include "ethernet.h"

    46

#endif

    47

    48

#include "fsm_master.h"

    49

    50

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

    51

    52

void ec_fsm_master_state_start(ec_fsm_master_t *);

    53

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    54

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    55

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    56

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    57

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    58

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    59

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    60

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    61

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    62

    63

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

    64

    65

/** Constructor.

    66

 */

    67

void ec_fsm_master_init(

    68

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

    69

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

    70

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

    71

        )

    72

{

    73

    fsm->master = master;

    74

    fsm->datagram = datagram;

    75

    fsm->state = ec_fsm_master_state_start;

    76

    fsm->idle = 0;

    77

    fsm->slaves_responding = 0;

    78

    fsm->topology_change_pending = 0;

    79

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    80

    81

    // init sub-state-machines

    82

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

    83

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

    84

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

    85

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

    86

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

    87

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

    88

    ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);

    89

}

    90

    91

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

    92

    93

/** Destructor.

    94

 */

    95

void ec_fsm_master_clear(

    96

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

    97

        )

    98

{

    99

    // clear sub-state machines

   100

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   101

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   102

    ec_fsm_sii_clear(&fsm->fsm_sii);

   103

    ec_fsm_change_clear(&fsm->fsm_change);

   104

    ec_fsm_coe_clear(&fsm->fsm_coe);

   105

    ec_fsm_coe_map_clear(&fsm->fsm_coe_map);

   106

}

   107

   108

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

   109

   110

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

   111

 *

   112

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

   113

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

   114

 */

   115

void ec_fsm_master_exec(

   116

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

   117

        )

   118

{

   119

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

   120

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

   121

        // datagram was not sent or received yet.

   122

        return;

   123

    }

   124

   125

    fsm->state(fsm);

   126

}

   127

   128

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

   129

   130

/**

   131

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

   132

 */

   133

int ec_fsm_master_idle(

   134

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

   135

        )

   136

{

   137

    return fsm->idle;

   138

}

   139

   140

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

   141

   142

/** Restarts the master state machine.

   143

 */

   144

void ec_fsm_master_restart(

   145

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

   146

        )

   147

{

   148

    fsm->state = ec_fsm_master_state_start;

   149

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

   150

}

   151

   152

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

   153

 * Master state machine

   154

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

   155

   156

/** Master state: START.

   157

 *

   158

 * Starts with getting slave count and slave states.

   159

 */

   160

void ec_fsm_master_state_start(

   161

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

   162

        )

   163

{

   164

    fsm->idle = 1;

   165

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

   166

    fsm->state = ec_fsm_master_state_broadcast;

   167

}

   168

   169

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

   170

   171

/** Master state: BROADCAST.

   172

 *

   173

 * Processes the broadcast read slave count and slaves states.

   174

 */

   175

void ec_fsm_master_state_broadcast(

   176

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

   177

        )

   178

{

   179

    ec_datagram_t *datagram = fsm->datagram;

   180

    unsigned int i, size;

   181

    ec_slave_t *slave;

   182

    ec_master_t *master = fsm->master;

   183

   184

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

   185

        return; // always retry

   186

   187

    // bus topology change?

   188

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

   189

        fsm->topology_change_pending = 1;

   190

        fsm->slaves_responding = datagram->working_counter;

   191

        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);

   192

    }

   193

   194

    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down

   195

        ec_fsm_master_restart(fsm);

   196

        return;

   197

    }

   198

   199

    if (fsm->slaves_responding) {

   200

        uint8_t states = EC_READ_U8(datagram->data);

   201

        if (states != fsm->slave_states) { // slave states changed?

   202

            char state_str[EC_STATE_STRING_SIZE];

   203

            fsm->slave_states = states;

   204

            ec_state_string(fsm->slave_states, state_str);

   205

            EC_INFO("Slave states: %s.\n", state_str);

   206

        }

   207

    } else {

   208

        fsm->slave_states = 0x00;

   209

    }

   210

   211

    if (fsm->topology_change_pending) {

   212

        down(&master->scan_sem);

   213

        if (!master->allow_scan) {

   214

            up(&master->scan_sem);

   215

        } else {

   216

            master->scan_busy = 1;

   217

            up(&master->scan_sem);

   218

   219

            // topology change when scan is allowed:

   220

            // clear all slaves and scan the bus

   221

            fsm->topology_change_pending = 0;

   222

            fsm->idle = 0;

   223

            fsm->scan_jiffies = jiffies;

   224

   225

#ifdef EC_EOE

   226

            ec_master_eoe_stop(master);

   227

            ec_master_clear_eoe_handlers(master);

   228

#endif

   229

            ec_master_clear_slaves(master);

   230

   231

            master->slave_count = fsm->slaves_responding;

   232

   233

            if (!master->slave_count) {

   234

                // no slaves present -> finish state machine.

   235

                master->scan_busy = 0;

   236

                wake_up_interruptible(&master->scan_queue);

   237

                ec_fsm_master_restart(fsm);

   238

                return;

   239

            }

   240

   241

            size = sizeof(ec_slave_t) * master->slave_count;

   242

            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   243

                EC_ERR("Failed to allocate %u bytes of slave memory!\n",

   244

                        size);

   245

                master->slave_count = 0; // TODO avoid retrying scan!

   246

                master->scan_busy = 0;

   247

                wake_up_interruptible(&master->scan_queue);

   248

                ec_fsm_master_restart(fsm);

   249

                return;

   250

            }

   251

   252

            // init slaves

   253

            for (i = 0; i < master->slave_count; i++) {

   254

                slave = master->slaves + i;

   255

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

   256

   257

                // do not force reconfiguration in operation phase to avoid

   258

                // unnecesssary process data interruptions

   259

                if (master->phase != EC_OPERATION)

   260

                    slave->force_config = 1;

   261

            }

   262

   263

            // broadcast clear all station addresses

   264

            ec_datagram_bwr(datagram, 0x0010, 2);

   265

            EC_WRITE_U16(datagram->data, 0x0000);

   266

            fsm->retries = EC_FSM_RETRIES;

   267

            fsm->state = ec_fsm_master_state_clear_addresses;

   268

            return;

   269

        }

   270

    }

   271

   272

    if (master->slave_count) {

   273

        // fetch state from first slave

   274

        fsm->slave = master->slaves;

   275

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

   276

                0x0130, 2);

   277

        fsm->retries = EC_FSM_RETRIES;

   278

        fsm->state = ec_fsm_master_state_read_state;

   279

    } else {

   280

        ec_fsm_master_restart(fsm);

   281

    }

   282

}

   283

   284

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

   285

   286

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

   287

 * 

   288

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

   289

 */

   290

int ec_fsm_master_action_process_sii(

   291

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

   292

        )

   293

{

   294

    ec_master_t *master = fsm->master;

   295

    ec_sii_write_request_t *request;

   296

   297

    // search the first request to be processed

   298

    while (1) {

   299

        if (list_empty(&master->sii_requests))

   300

            break;

   301

   302

        // get first request

   303

        request = list_entry(master->sii_requests.next,

   304

                ec_sii_write_request_t, list);

   305

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

   306

        request->state = EC_REQUEST_BUSY;

   307

   308

        // found pending SII write operation. execute it!

   309

        if (master->debug_level)

   310

            EC_DBG("Writing SII data to slave %u...\n",

   311

                    request->slave->ring_position);

   312

        fsm->sii_request = request;

   313

        fsm->sii_index = 0;

   314

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

   315

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   316

        fsm->state = ec_fsm_master_state_write_sii;

   317

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

   318

        return 1;

   319

    }

   320

   321

    return 0;

   322

}

   323

   324

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

   325

   326

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

   327

 * 

   328

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

   329

 */

   330

int ec_fsm_master_action_process_sdo(

   331

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

   332

        )

   333

{

   334

    ec_master_t *master = fsm->master;

   335

    ec_slave_t *slave;

   336

    ec_sdo_request_t *req;

   337

    ec_master_sdo_request_t *request;

   338

   339

    // search for internal requests to be processed

   340

    for (slave = master->slaves;

   341

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

   342

            slave++) {

   343

        if (!slave->config)

   344

            continue;

   345

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

   346

            if (req->state == EC_REQUEST_QUEUED) {

   347

   348

                if (ec_sdo_request_timed_out(req)) {

   349

                    req->state = EC_REQUEST_FAILURE;

   350

                    if (master->debug_level)

   351

                        EC_DBG("Sdo request for slave %u timed out...\n",

   352

                                slave->ring_position);

   353

                    continue;

   354

                }

   355

   356

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   357

                    req->state = EC_REQUEST_FAILURE;

   358

                    continue;

   359

                }

   360

   361

                req->state = EC_REQUEST_BUSY;

   362

                if (master->debug_level)

   363

                    EC_DBG("Processing Sdo request for slave %u...\n",

   364

                            slave->ring_position);

   365

   366

                fsm->idle = 0;

   367

                fsm->sdo_request = req;

   368

                fsm->slave = slave;

   369

                fsm->state = ec_fsm_master_state_sdo_request;

   370

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

   371

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

   372

                return 1;

   373

            }

   374

        }

   375

    }

   376

   377

    // search the first external request to be processed

   378

    while (1) {

   379

        if (list_empty(&master->slave_sdo_requests))

   380

            break;

   381

   382

        // get first request

   383

        request = list_entry(master->slave_sdo_requests.next,

   384

                ec_master_sdo_request_t, list);

   385

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

   386

        request->req.state = EC_REQUEST_BUSY;

   387

   388

        slave = request->slave;

   389

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   390

            EC_ERR("Discarding Sdo request, slave %u is in INIT.\n",

   391

                    slave->ring_position);

   392

            request->req.state = EC_REQUEST_FAILURE;

   393

            wake_up(&master->sdo_queue);

   394

            continue;

   395

        }

   396

   397

        // Found pending Sdo request. Execute it!

   398

        if (master->debug_level)

   399

            EC_DBG("Processing Sdo request for slave %u...\n",

   400

                    slave->ring_position);

   401

   402

        // Start uploading Sdo

   403

        fsm->idle = 0;

   404

        fsm->sdo_request = &request->req;

   405

        fsm->slave = slave;

   406

        fsm->state = ec_fsm_master_state_sdo_request;

   407

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

   408

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

   409

        return 1;

   410

    }

   411

   412

    return 0;

   413

}

   414

   415

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

   416

   417

/** Master action: IDLE.

   418

 *

   419

 * Does secondary work.

   420

 */

   421

void ec_fsm_master_action_idle(

   422

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

   423

        )

   424

{

   425

    ec_master_t *master = fsm->master;

   426

    ec_slave_t *slave;

   427

   428

    // Check for pending Sdo requests

   429

    if (ec_fsm_master_action_process_sdo(fsm))

   430

        return;

   431

   432

    // check, if slaves have an Sdo dictionary to read out.

   433

    for (slave = master->slaves;

   434

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

   435

            slave++) {

   436

        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)

   437

                || slave->sdo_dictionary_fetched

   438

                || slave->current_state == EC_SLAVE_STATE_INIT

   439

                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ

   440

                ) continue;

   441

   442

        if (master->debug_level) {

   443

            EC_DBG("Fetching Sdo dictionary from slave %u.\n",

   444

                    slave->ring_position);

   445

        }

   446

   447

        slave->sdo_dictionary_fetched = 1;

   448

   449

        // start fetching Sdo dictionary

   450

        fsm->idle = 0;

   451

        fsm->slave = slave;

   452

        fsm->state = ec_fsm_master_state_sdo_dictionary;

   453

        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);

   454

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

   455

        return;

   456

    }

   457

   458

    // check for pending SII write operations.

   459

    if (ec_fsm_master_action_process_sii(fsm))

   460

        return; // SII write request found

   461

   462

    ec_fsm_master_restart(fsm);

   463

}

   464

   465

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

   466

   467

/** Master action: Get state of next slave.

   468

 */

   469

void ec_fsm_master_action_next_slave_state(

   470

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

   471

        )

   472

{

   473

    ec_master_t *master = fsm->master;

   474

   475

    // is there another slave to query?

   476

    fsm->slave++;

   477

    if (fsm->slave < master->slaves + master->slave_count) {

   478

        // fetch state from next slave

   479

        fsm->idle = 1;

   480

        ec_datagram_fprd(fsm->datagram,

   481

                fsm->slave->station_address, 0x0130, 2);

   482

        fsm->retries = EC_FSM_RETRIES;

   483

        fsm->state = ec_fsm_master_state_read_state;

   484

        return;

   485

    }

   486