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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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

    41

#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

void ec_fsm_master_state_start(ec_fsm_master_t *);

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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    51

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    52

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_scan_slave(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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void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

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void ec_fsm_master_state_foe_request(ec_fsm_master_t *);

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    62

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

    63

    64

/** Constructor.

    65

 */

    66

void ec_fsm_master_init(

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

    68

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

    69

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

    70

        )

    71

{

    72

    fsm->master = master;

    73

    fsm->datagram = datagram;

    74

    fsm->state = ec_fsm_master_state_start;

    75

    fsm->idle = 0;

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    fsm->link_state = 0;

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    fsm->slaves_responding = 0;

    78

    fsm->topology_change_pending = 0;

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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    80

    81

    // init sub-state-machines

    82

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

    83

    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);

    84

    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_pdo);

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

    89

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

    90

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

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}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

void ec_fsm_master_clear(

    98

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

    99

        )

   100

{

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    // clear sub-state machines

   102

    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_foe_clear(&fsm->fsm_foe);

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    ec_fsm_pdo_clear(&fsm->fsm_pdo);

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    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   108

    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

   110

   111

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

   112

   113

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

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 *

   115

 * 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.

   117

 */

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void ec_fsm_master_exec(

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

   120

        )

   121

{

   122

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

   123

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

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        // datagram was not sent or received yet.

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        return;

   126

    }

   127

   128

    fsm->state(fsm);

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}

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   131

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

   132

   133

/**

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

   135

 */

   136

int ec_fsm_master_idle(

   137

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

   138

        )

   139

{

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    return fsm->idle;

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}

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   143

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

   144

   145

/** Restarts the master state machine.

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 */

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void ec_fsm_master_restart(

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

   149

        )

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{

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    fsm->state = ec_fsm_master_state_start;

   152

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

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}

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   155

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

   156

 * Master state machine

   157

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

   158

   159

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

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 */

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void ec_fsm_master_state_start(

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

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        )

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{

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    fsm->idle = 1;

   168

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

   169

    ec_datagram_zero(fsm->datagram);

   170

    fsm->state = ec_fsm_master_state_broadcast;

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}

   172

   173

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

   174

   175

/** Master state: BROADCAST.

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 *

   177

 * Processes the broadcast read slave count and slaves states.

   178

 */

   179

void ec_fsm_master_state_broadcast(

   180

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

   181

        )

   182

{

   183

    ec_datagram_t *datagram = fsm->datagram;

   184

    unsigned int i, size;

   185

    ec_slave_t *slave;

   186

    ec_master_t *master = fsm->master;

   187

   188

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   190

   191

    // bus topology change?

   192

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

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        fsm->topology_change_pending = 1;

   194

        fsm->slaves_responding = datagram->working_counter;

   195

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

   196

    }

   197

   198

    if (fsm->link_state && !master->main_device.link_state) { // link went down

   199

        if (master->debug_level) {

   200

            EC_DBG("Master state machine detected "

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                    "link down. Clearing slave list.\n");

   202

        }

   203

   204

#ifdef EC_EOE

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        ec_master_eoe_stop(master);

   206

        ec_master_clear_eoe_handlers(master);

   207

#endif

   208

        ec_master_clear_slaves(master);

   209

    }

   210

    fsm->link_state = master->main_device.link_state;

   211

   212

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   213

        ec_fsm_master_restart(fsm);

   214

        return;

   215

    }

   216

   217

    if (fsm->slaves_responding) {

   218

        uint8_t states = EC_READ_U8(datagram->data);

   219

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

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            char state_str[EC_STATE_STRING_SIZE];

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            fsm->slave_states = states;

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            ec_state_string(fsm->slave_states, state_str, 1);

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

   224

        }

   225

    } else {

   226

        fsm->slave_states = 0x00;

   227

    }

   228

   229

    if (fsm->topology_change_pending) {

   230

        down(&master->scan_sem);

   231

        if (!master->allow_scan) {

   232

            up(&master->scan_sem);

   233

        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

   236

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            // topology change when scan is allowed:

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            // clear all slaves and scan the bus

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            fsm->topology_change_pending = 0;

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            fsm->idle = 0;

   241

            fsm->scan_jiffies = jiffies;

   242

   243

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

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            ec_master_clear_eoe_handlers(master);

   246

#endif

   247

            ec_master_clear_slaves(master);

   248

   249

            master->slave_count = fsm->slaves_responding;

   250

   251

            if (!master->slave_count) {

   252

                // no slaves present -> finish state machine.

   253

                master->scan_busy = 0;

   254

                wake_up_interruptible(&master->scan_queue);

   255

                ec_fsm_master_restart(fsm);

   256

                return;

   257

            }

   258

   259

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

   260

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

   261

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

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                        size);

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

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                master->scan_busy = 0;

   265

                wake_up_interruptible(&master->scan_queue);

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                ec_fsm_master_restart(fsm);

   267

                return;

   268

            }

   269

   270

            // init slaves

   271

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

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                slave = master->slaves + i;

   273

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

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                // do not force reconfiguration in operation phase to avoid

   276

                // unnecesssary process data interruptions

   277

                if (master->phase != EC_OPERATION)

   278

                    slave->force_config = 1;

   279

            }

   280

   281

            // broadcast clear all station addresses

   282

            ec_datagram_bwr(datagram, 0x0010, 2);

   283

            EC_WRITE_U16(datagram->data, 0x0000);

   284

            fsm->retries = EC_FSM_RETRIES;

   285

            fsm->state = ec_fsm_master_state_clear_addresses;

   286

            return;

   287

        }

   288

    }

   289

   290

    if (master->slave_count) {

   291

        // fetch state from first slave

   292

        fsm->slave = master->slaves;

   293

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

   294

                0x0130, 2);

   295

        ec_datagram_zero(datagram);

   296

        fsm->retries = EC_FSM_RETRIES;

   297

        fsm->state = ec_fsm_master_state_read_state;

   298

    } else {

   299

        ec_fsm_master_restart(fsm);

   300

    }

   301

}

   302

   303

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

   304

   305

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

   306

 *

   307

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

   308

 */

   309

int ec_fsm_master_action_process_sii(

   310

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

   311

        )

   312

{

   313

    ec_master_t *master = fsm->master;

   314

    ec_sii_write_request_t *request;

   315

   316

    // search the first request to be processed

   317

    while (1) {

   318

        if (list_empty(&master->sii_requests))

   319

            break;

   320

   321

        // get first request

   322

        request = list_entry(master->sii_requests.next,

   323

                ec_sii_write_request_t, list);

   324

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

   325

        request->state = EC_INT_REQUEST_BUSY;

   326

   327

        // found pending SII write operation. execute it!

   328

        if (master->debug_level)

   329

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

   330

                    request->slave->ring_position);

   331

        fsm->sii_request = request;

   332

        fsm->sii_index = 0;

   333

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

   334

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   335

        fsm->state = ec_fsm_master_state_write_sii;

   336

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

   337

        return 1;

   338

    }

   339

   340

    return 0;

   341

}

   342

   343

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

   344

   345

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

   346

 * 

   347

 * \return non-zero, if a register request is processed.

   348

 */

   349

int ec_fsm_master_action_process_register(

   350

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

   351

        )

   352

{

   353

    ec_master_t *master = fsm->master;

   354

    ec_reg_request_t *request;

   355

   356

    // search the first request to be processed

   357

    while (!list_empty(&master->reg_requests)) {

   358

   359

        // get first request

   360

        request = list_entry(master->reg_requests.next,

   361

                ec_reg_request_t, list);

   362

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

   363

        request->state = EC_INT_REQUEST_BUSY;

   364

   365

        // found pending request; process it!

   366

        if (master->debug_level)

   367

            EC_DBG("Processing register request for slave %u, "

   368

                    "offset 0x%04x, length %u...\n",

   369

                    request->slave->ring_position,

   370

                    request->offset, request->length);

   371

   372

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

   373

            EC_ERR("Request length (%u) exceeds maximum "

   374

                    "datagram size (%u)!\n", request->length,

   375

                    fsm->datagram->mem_size);

   376

            request->state = EC_INT_REQUEST_FAILURE;

   377

            wake_up(&master->reg_queue);

   378

            continue;

   379

        }

   380

   381

        fsm->reg_request = request;

   382

   383

        if (request->dir == EC_DIR_INPUT) {

   384

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

   385

                    request->offset, request->length);

   386

            ec_datagram_zero(fsm->datagram);

   387

        } else {

   388

            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,

   389

                    request->offset, request->length);

   390

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

   391

        }

   392

        fsm->retries = EC_FSM_RETRIES;

   393

        fsm->state = ec_fsm_master_state_reg_request;

   394

        return 1;

   395

    }

   396

   397

    return 0;

   398

}

   399

   400

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

   401

   402

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

   403

 *

   404

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

   405

 */

   406

int ec_fsm_master_action_process_sdo(

   407

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

   408

        )

   409

{

   410

    ec_master_t *master = fsm->master;

   411

    ec_slave_t *slave;

   412

    ec_sdo_request_t *req;

   413

    ec_master_sdo_request_t *request;

   414

   415

    // search for internal requests to be processed

   416

    for (slave = master->slaves;

   417

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

   418

            slave++) {

   419

        if (!slave->config)

   420

            continue;

   421

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

   422

            if (req->state == EC_INT_REQUEST_QUEUED) {

   423

   424

                if (ec_sdo_request_timed_out(req)) {

   425

                    req->state = EC_INT_REQUEST_FAILURE;

   426

                    if (master->debug_level)

   427

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

   428

                                slave->ring_position);

   429

                    continue;

   430

                }

   431

   432

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   433

                    req->state = EC_INT_REQUEST_FAILURE;

   434

                    continue;

   435

                }

   436

   437

                req->state = EC_INT_REQUEST_BUSY;

   438

                if (master->debug_level)

   439

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

   440

                            slave->ring_position);

   441

   442

                fsm->idle = 0;

   443

                fsm->sdo_request = req;

   444

                fsm->slave = slave;

   445

                fsm->state = ec_fsm_master_state_sdo_request;

   446

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

   447

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

   448

                return 1;

   449

            }

   450

        }

   451

    }

   452

   453

    // search the first external request to be processed

   454

    while (1) {

   455

        if (list_empty(&master->slave_sdo_requests))

   456

            break;

   457

   458

        // get first request

   459

        request = list_entry(master->slave_sdo_requests.next,

   460

                ec_master_sdo_request_t, list);

   461

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

   462

        request->req.state = EC_INT_REQUEST_BUSY;

   463

   464

        slave = request->slave;

   465

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   466

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

   467

                    slave->ring_position);

   468

            request->req.state = EC_INT_REQUEST_FAILURE;

   469

            wake_up(&master->sdo_queue);

   470

            continue;

   471

        }

   472

   473

        // Found pending SDO request. Execute it!

   474

        if (master->debug_level)

   475

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

   476

                    slave->ring_position);

   477

   478

        // Start uploading SDO

   479

        fsm->idle = 0;

   480

        fsm->sdo_request = &request->req;

   481

        fsm->slave = slave;

   482

        fsm->state = ec_fsm_master_state_sdo_request;

   483

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