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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

    18

 *  You should have received a copy of the GNU General Public License along

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 *  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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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

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#include "mailbox.h"

    39

#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#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.

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 */

    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 *);

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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

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    69

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

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void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

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    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_master_init(

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

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

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

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        )

    81

{

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    fsm->master = master;

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    fsm->datagram = datagram;

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    85

    ec_fsm_master_reset(fsm);

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    87

    // init sub-state-machines

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    ec_fsm_coe_init(&fsm->fsm_coe);

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    ec_fsm_soe_init(&fsm->fsm_soe);

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

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

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

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

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

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

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

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}

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    99

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

   100

   101

/** Destructor.

   102

 */

   103

void ec_fsm_master_clear(

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

   105

        )

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{

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_soe_clear(&fsm->fsm_soe);

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    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   111

    ec_fsm_change_clear(&fsm->fsm_change);

   112

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   113

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   114

    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   117

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

   118

   119

/** Reset state machine.

   120

 */

   121

void ec_fsm_master_reset(

   122

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

   123

        )

   124

{

   125

    ec_device_index_t dev_idx;

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   127

    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->dev_idx = EC_DEVICE_MAIN;

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   131

    for (dev_idx = EC_DEVICE_MAIN;

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

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        fsm->link_state[dev_idx] = 0;

   134

        fsm->slaves_responding[dev_idx] = 0;

   135

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

   136

    }

   137

   138

    fsm->rescan_required = 0;

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}

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   141

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

   142

   143

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

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 *

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

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

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 *

   148

 * \return true, if the state machine was executed

   149

 */

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int ec_fsm_master_exec(

   151

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

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        )

   153

{

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

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

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        // datagram was not sent or received yet.

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        return 0;

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    }

   159

   160

    fsm->state(fsm);

   161

    return 1;

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}

   163

   164

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

   165

   166

/**

   167

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

   168

 */

   169

int ec_fsm_master_idle(

   170

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

   171

        )

   172

{

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    return fsm->idle;

   174

}

   175

   176

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

   177

   178

/** Restarts the master state machine.

   179

 */

   180

void ec_fsm_master_restart(

   181

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

   182

        )

   183

{

   184

    fsm->dev_idx = EC_DEVICE_MAIN;

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    fsm->state = ec_fsm_master_state_start;

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

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}

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   189

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

   190

 * Master state machine

   191

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

   192

   193

/** Master state: START.

   194

 *

   195

 * Starts with getting slave count and slave states.

   196

 */

   197

void ec_fsm_master_state_start(

   198

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

   199

        )

   200

{

   201

    ec_master_t *master = fsm->master;

   202

   203

    fsm->idle = 1;

   204

   205

    // check for emergency requests

   206

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

   207

        ec_reg_request_t *request;

   208

   209

        // get first request

   210

        request = list_entry(master->emerg_reg_requests.next,

   211

                ec_reg_request_t, list);

   212

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

   213

        request->state = EC_INT_REQUEST_BUSY;

   214

   215

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

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

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            request->state = EC_INT_REQUEST_FAILURE;

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            wake_up_all(&master->request_queue);

   219

            fsm->state(fsm); // continue

   220

            return;

   221

        }

   222

   223

        if (request->dir != EC_DIR_OUTPUT) {

   224

            EC_MASTER_ERR(master, "Emergency requests must be"

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                    " write requests!\n");

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            request->state = EC_INT_REQUEST_FAILURE;

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            wake_up_all(&master->request_queue);

   228

            fsm->state(fsm); // continue

   229

            return;

   230

        }

   231

   232

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

   233

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

   234

                request->address, request->transfer_size);

   235

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

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        fsm->datagram->device_index = EC_DEVICE_MAIN;

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        request->state = EC_INT_REQUEST_SUCCESS;

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        wake_up_all(&master->request_queue);

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        return;

   240

    }

   241

   242

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

   243

    ec_datagram_zero(fsm->datagram);

   244

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

   245

    fsm->state = ec_fsm_master_state_broadcast;

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}

   247

   248

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

   249

   250

/** Master state: BROADCAST.

   251

 *

   252

 * Processes the broadcast read slave count and slaves states.

   253

 */

   254

void ec_fsm_master_state_broadcast(

   255

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

   256

        )

   257

{

   258

    ec_datagram_t *datagram = fsm->datagram;

   259

    unsigned int i, size;

   260

    ec_slave_t *slave;

   261

    ec_master_t *master = fsm->master;

   262

   263

    // bus topology change?

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

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        fsm->rescan_required = 1;

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

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

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                fsm->slaves_responding[fsm->dev_idx],

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

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    }

   271

   272

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

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

   274

        ec_device_index_t dev_idx;

   275

   276

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

   277

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

   278

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

   279

   280

#ifdef EC_EOE

   281

        ec_master_eoe_stop(master);

   282

        ec_master_clear_eoe_handlers(master);

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#endif

   284

        ec_master_clear_slaves(master);

   285

   286

        for (dev_idx = EC_DEVICE_MAIN;

   287

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

   288

            fsm->slave_states[dev_idx] = 0x00;

   289

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

   290

                                                    next link up. */

   291

        }

   292

    }

   293

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

   294

   295

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   296

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

   297

        uint8_t states = EC_READ_U8(datagram->data);

   298

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

   299

            // slave states changed

   300

            char state_str[EC_STATE_STRING_SIZE];

   301

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

   302

            ec_state_string(states, state_str, 1);

   303

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

   304

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

   305

        }

   306

    } else {

   307

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

   308

    }

   309

   310

    fsm->dev_idx++;

   311

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

   312

        // check number of responding slaves on next device

   313

        fsm->state = ec_fsm_master_state_start;

   314

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

   315

        return;

   316

    }

   317

   318

    if (fsm->rescan_required) {

   319

        down(&master->scan_sem);

   320

        if (!master->allow_scan) {

   321

            up(&master->scan_sem);

   322

        } else {

   323

            unsigned int count = 0, next_dev_slave, ring_position;

   324

            ec_device_index_t dev_idx;

   325

   326

            master->scan_busy = 1;

   327

            up(&master->scan_sem);

   328

   329

            // clear all slaves and scan the bus

   330

            fsm->rescan_required = 0;

   331

            fsm->idle = 0;

   332

            fsm->scan_jiffies = jiffies;

   333

   334

#ifdef EC_EOE

   335

            ec_master_eoe_stop(master);

   336

            ec_master_clear_eoe_handlers(master);

   337

#endif

   338

            ec_master_clear_slaves(master);

   339

   340

            for (dev_idx = EC_DEVICE_MAIN;

   341

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

   342

                count += fsm->slaves_responding[dev_idx];

   343

            }

   344

   345

            if (!count) {

   346

                // no slaves present -> finish state machine.

   347

                master->scan_busy = 0;

   348

                wake_up_interruptible(&master->scan_queue);

   349

                ec_fsm_master_restart(fsm);

   350

                return;

   351

            }

   352

   353

            size = sizeof(ec_slave_t) * count;

   354

            if (!(master->slaves =

   355

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

   356

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

   357

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

   358

                master->scan_busy = 0;

   359

                wake_up_interruptible(&master->scan_queue);

   360

                ec_fsm_master_restart(fsm);

   361

                return;

   362

            }

   363

   364

            // init slaves

   365

            dev_idx = EC_DEVICE_MAIN;

   366

            next_dev_slave = fsm->slaves_responding[dev_idx];

   367

            ring_position = 0;

   368

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

   369

                slave = master->slaves + i;

   370

                while (i >= next_dev_slave) {

   371

                    dev_idx++;

   372

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   373

                    ring_position = 0;

   374

                }

   375

   376

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

   377

   378

                // do not force reconfiguration in operation phase to avoid

   379

                // unnecesssary process data interruptions

   380

                if (master->phase != EC_OPERATION) {

   381

                    slave->force_config = 1;

   382

                }

   383

            }

   384

            master->slave_count = count;

   385

            master->fsm_slave = master->slaves;

   386

   387

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

   388

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

   389

            fsm->dev_idx = EC_DEVICE_MAIN;

   390

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

   391

                fsm->dev_idx++;

   392

            }

   393

   394

            ec_fsm_master_enter_clear_addresses(fsm);

   395

            return;

   396

        }

   397

    }

   398

   399

    if (master->slave_count) {

   400

   401

        // application applied configurations

   402

        if (master->config_changed) {

   403

            master->config_changed = 0;

   404

   405

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

   406

   407

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

   408

            ec_fsm_master_enter_write_system_times(fsm);

   409

   410

        } else {

   411

            // fetch state from first slave

   412

            fsm->slave = master->slaves;

   413

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

   414

                    0x0130, 2);

   415

            ec_datagram_zero(datagram);

   416

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

   417

            fsm->retries = EC_FSM_RETRIES;

   418

            fsm->state = ec_fsm_master_state_read_state;

   419

        }

   420

    } else {

   421

        ec_fsm_master_restart(fsm);

   422

    }

   423

}

   424

   425

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

   426

   427

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

   428

 *

   429

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

   430

 */

   431

int ec_fsm_master_action_process_sii(

   432

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

   433

        )

   434

{

   435

    ec_master_t *master = fsm->master;

   436

    ec_sii_write_request_t *request;

   437

   438

    // search the first request to be processed

   439

    while (1) {

   440

        if (list_empty(&master->sii_requests))

   441

            break;

   442

   443

        // get first request

   444

        request = list_entry(master->sii_requests.next,

   445

                ec_sii_write_request_t, list);

   446

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

   447

        request->state = EC_INT_REQUEST_BUSY;

   448

   449

        // found pending SII write operation. execute it!

   450

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

   451

        fsm->sii_request = request;

   452

        fsm->sii_index = 0;

   453

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

   454

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   455

        fsm->state = ec_fsm_master_state_write_sii;

   456

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

   457

        return 1;

   458

    }

   459

   460

    return 0;

   461

}

   462

   463

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

   464

   465

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

   466

 *

   467

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

   468

 */

   469

int ec_fsm_master_action_process_sdo(

   470

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

   471

        )

   472

{

   473

    ec_master_t *master = fsm->master;

   474

    ec_slave_t *slave;

   475

    ec_sdo_request_t *req;

   476

   477

    // search for internal requests to be processed

   478

    for (slave = master->slaves;

   479

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

   480

            slave++) {

   481

   482

        if (!slave->config) {

   483

            continue;

   484

        }

   485

   486