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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  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

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 *  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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 *

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

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

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    34

/**

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   \file

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   EtherCAT state change FSM.

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*/

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

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    41

#include "globals.h"

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#include "master.h"

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#include "fsm_change.h"

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    45

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

    46

    47

void ec_fsm_change_state_start(ec_fsm_change_t *);

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void ec_fsm_change_state_check(ec_fsm_change_t *);

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void ec_fsm_change_state_status(ec_fsm_change_t *);

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void ec_fsm_change_state_code(ec_fsm_change_t *);

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void ec_fsm_change_state_start_ack(ec_fsm_change_t *);

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void ec_fsm_change_state_ack(ec_fsm_change_t *);

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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);

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void ec_fsm_change_state_end(ec_fsm_change_t *);

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void ec_fsm_change_state_error(ec_fsm_change_t *);

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    57

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

    58

    59

/**

    60

   Constructor.

    61

*/

    62

    63

void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */

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                        ec_datagram_t *datagram /**< datagram */

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                        )

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{

    67

    fsm->state = NULL;

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    fsm->datagram = datagram;

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}

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    71

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

    72

    73

/**

    74

   Destructor.

    75

*/

    76

    77

void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)

    78

{

    79

}

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    81

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

    82

    83

/**

    84

   Starts the change state machine.

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*/

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void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */

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                         ec_slave_t *slave, /**< EtherCAT slave */

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                         ec_slave_state_t state /**< requested state */

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                         )

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{

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    fsm->mode = EC_FSM_CHANGE_MODE_FULL;

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    fsm->slave = slave;

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    fsm->requested_state = state;

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    fsm->state = ec_fsm_change_state_start;

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}

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    98

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

    99

   100

/**

   101

   Starts the change state machine to only acknowlegde a slave's state.

   102

*/

   103

   104

void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */

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                       ec_slave_t *slave /**< EtherCAT slave */

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                       )

   107

{

   108

    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;

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    fsm->slave = slave;

   110

    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;

   111

    fsm->state = ec_fsm_change_state_start_ack;

   112

}

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   114

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

   115

   116

/**

   117

   Executes the current state of the state machine.

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   \return false, if the state machine has terminated

   119

*/

   120

   121

int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)

   122

{

   123

    fsm->state(fsm);

   124

   125

    return fsm->state != ec_fsm_change_state_end

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        && fsm->state != ec_fsm_change_state_error;

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}

   128

   129

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

   130

   131

/**

   132

   Returns, if the state machine terminated with success.

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   \return non-zero if successful.

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*/

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   136

int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)

   137

{

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    return fsm->state == ec_fsm_change_state_end;

   139

}

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   141

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

   142

 *  state change state machine

   143

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

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   145

/**

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   Change state: START.

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*/

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   149

void ec_fsm_change_state_start(ec_fsm_change_t *fsm

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                               /**< finite state machine */)

   151

{

   152

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

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    fsm->take_time = 1;

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    fsm->old_state = fsm->slave->current_state;

   157

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    // write new state to slave

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    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

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    EC_WRITE_U16(datagram->data, fsm->requested_state);

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

   162

    fsm->state = ec_fsm_change_state_check;

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}

   164

   165

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

   166

   167

/**

   168

   Change state: CHECK.

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*/

   170

   171

void ec_fsm_change_state_check(ec_fsm_change_t *fsm

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                               /**< finite state machine */)

   173

{

   174

    ec_datagram_t *datagram = fsm->datagram;

   175

    ec_slave_t *slave = fsm->slave;

   176

   177

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_change_state_error;

   179

        EC_ERR("Failed to send state datagram to slave %i!\n",

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               fsm->slave->ring_position);

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        return;

   182

    }

   183

   184

    if (fsm->take_time) {

   185

        fsm->take_time = 0;

   186

        fsm->jiffies_start = datagram->jiffies_sent;

   187

    }

   188

   189

    if (datagram->working_counter != 1) {

   190

        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {

   191

            char state_str[EC_STATE_STRING_SIZE];

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            ec_state_string(fsm->requested_state, state_str);

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            fsm->state = ec_fsm_change_state_error;

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            EC_ERR("Failed to set state %s on slave %i: Slave did not"

   195

                   " respond.\n", state_str, fsm->slave->ring_position);

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            return;

   197

        }

   198

   199

        // repeat writing new state to slave

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        ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

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        EC_WRITE_U16(datagram->data, fsm->requested_state);

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

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        return;

   204

    }

   205

   206

    fsm->take_time = 1;

   207

   208

    // read AL status from slave

   209

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

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

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    fsm->state = ec_fsm_change_state_status;

   212

}

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   214

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

   215

   216

/**

   217

   Change state: STATUS.

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*/

   219

   220

void ec_fsm_change_state_status(ec_fsm_change_t *fsm

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                                /**< finite state machine */)

   222

{

   223

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   225

   226

    if (datagram->state != EC_DATAGRAM_RECEIVED

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        || datagram->working_counter != 1) {

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        char req_state[EC_STATE_STRING_SIZE];

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        ec_state_string(fsm->requested_state, req_state);

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        fsm->state = ec_fsm_change_state_error;

   231

        EC_ERR("Failed to check state %s on slave %i.\n",

   232

               req_state, slave->ring_position);

   233

        return;

   234

    }

   235

   236

    if (fsm->take_time) {

   237

        fsm->take_time = 0;

   238

        fsm->jiffies_start = datagram->jiffies_sent;

   239

    }

   240

   241

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

   242

   243

    if (slave->current_state == fsm->requested_state) {

   244

        // state has been set successfully

   245

        fsm->state = ec_fsm_change_state_end;

   246

        return;

   247

    }

   248

   249

    if (slave->current_state != fsm->old_state) { // state changed

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        char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];

   251

   252

        ec_state_string(slave->current_state, cur_state);

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   254

        if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {

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            // Slave spontaneously changed its state just before the new state

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            // was written. Accept current state as old state and wait for

   257

            // state change

   258

            fsm->old_state = slave->current_state;

   259

            EC_WARN("Slave %i changed to %s in the meantime.\n",

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                    slave->ring_position, cur_state);

   261

            goto again;

   262

        }

   263

   264

        // state change error

   265

   266

        slave->error_flag = 1;

   267

        ec_state_string(fsm->requested_state, req_state);

   268

   269

        EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",

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               req_state, slave->ring_position, cur_state);

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        // fetch AL status error code

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        ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);

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

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        fsm->state = ec_fsm_change_state_code;

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        return;

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    }

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    // still old state

   279

   280

    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s

   281

        // timeout while checking

   282

        char state_str[EC_STATE_STRING_SIZE];

   283

        ec_state_string(fsm->requested_state, state_str);

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        fsm->state = ec_fsm_change_state_error;

   285

        EC_ERR("Timeout while setting state %s on slave %i.\n",

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               state_str, slave->ring_position);

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        return;

   288

    }

   289

   290

 again:

   291

    // no timeout yet. check again

   292

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

   293

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

   294

}

   295

   296

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

   297

   298

/**

   299

   Application layer status messages.

   300

*/

   301

   302

const ec_code_msg_t al_status_messages[] = {

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    {0x0001, "Unspecified error"},

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    {0x0011, "Invalud requested state change"},

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    {0x0012, "Unknown requested state"},

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    {0x0013, "Bootstrap not supported"},

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    {0x0014, "No valid firmware"},

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    {0x0015, "Invalid mailbox configuration"},

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    {0x0016, "Invalid mailbox configuration"},

   310

    {0x0017, "Invalid sync manager configuration"},

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    {0x0018, "No valid inputs available"},

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    {0x0019, "No valid outputs"},

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    {0x001A, "Synchronisation error"},

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    {0x001B, "Sync manager watchdog"},

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    {0x001C, "Invalid sync manager types"},

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    {0x001D, "Invalid output configuration"},

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    {0x001E, "Invalid input configuration"},

   318

    {0x001F, "Invalid watchdog configuration"},

   319

    {0x0020, "Slave needs cold start"},

   320

    {0x0021, "Slave needs INIT"},

   321

    {0x0022, "Slave needs PREOP"},

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    {0x0023, "Slave needs SAVEOP"},

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    {0x0030, "Invalid DC SYNCH configuration"},

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    {0x0031, "Invalid DC latch configuration"},

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    {0x0032, "PLL error"},

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    {0x0033, "Invalid DC IO error"},

   327

    {0x0034, "Invalid DC timeout error"},

   328

    {0x0042, "MBOX EOE"},

   329

    {0x0043, "MBOX COE"},

   330

    {0x0044, "MBOX FOE"},

   331

    {0x0045, "MBOX SOE"},

   332

    {0x004F, "MBOX VOE"},

   333

    {}

   334

};

   335

   336

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

   337

   338

/**

   339

   Change state: CODE.

   340

*/

   341

   342

void ec_fsm_change_state_code(ec_fsm_change_t *fsm

   343

                              /**< finite state machine */)

   344

{

   345

    ec_datagram_t *datagram = fsm->datagram;

   346

    uint32_t code;

   347

    const ec_code_msg_t *al_msg;

   348

   349

    if (datagram->state != EC_DATAGRAM_RECEIVED

   350

        || datagram->working_counter != 1) {

   351

        EC_WARN("Reception of AL status code datagram failed.\n");

   352

    }

   353

    else {

   354

        if ((code = EC_READ_U16(datagram->data))) {

   355

            for (al_msg = al_status_messages; al_msg->code; al_msg++) {

   356

                if (al_msg->code != code) continue;

   357

                EC_ERR("AL status message 0x%04X: \"%s\".\n",

   358

                       al_msg->code, al_msg->message);

   359

                break;

   360

            }

   361

            if (!al_msg->code)

   362

                EC_ERR("Unknown AL status code 0x%04X.\n", code);

   363

        }

   364

    }

   365

   366

    // acknowledge "old" slave state

   367

    ec_fsm_change_state_start_ack(fsm); // execute immediately

   368

}

   369

   370

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

   371

   372

/**

   373

   Change state: START ACK.

   374

*/

   375

   376

void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm

   377

                                   /**< finite state machine */)

   378

{

   379

    ec_slave_t *slave = fsm->slave;

   380

    ec_datagram_t *datagram = fsm->datagram;

   381

   382

    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);

   383

    EC_WRITE_U16(datagram->data, slave->current_state);

   384

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

   385

    fsm->state = ec_fsm_change_state_ack;

   386

}

   387

   388

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

   389

   390

/**

   391

   Change state: ACK.

   392

*/

   393

   394

void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)

   395

{

   396

    ec_datagram_t *datagram = fsm->datagram;

   397

    ec_slave_t *slave = fsm->slave;

   398

   399

    if (datagram->state != EC_DATAGRAM_RECEIVED

   400

        || datagram->working_counter != 1) {

   401

        fsm->state = ec_fsm_change_state_error;

   402

        EC_ERR("Reception of state ack datagram failed.\n");

   403

        return;

   404

    }

   405

   406

    fsm->take_time = 1;

   407

   408

    // read new AL status

   409

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

   410

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

   411

    fsm->state = ec_fsm_change_state_check_ack;

   412

}

   413

   414

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

   415

   416

/**

   417

   Change state: CHECK ACK.

   418

*/

   419

   420

void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm

   421

                                   /**< finite state machine */)

   422

{

   423

    ec_datagram_t *datagram = fsm->datagram;

   424

    ec_slave_t *slave = fsm->slave;

   425

   426

    if (datagram->state != EC_DATAGRAM_RECEIVED

   427

        || datagram->working_counter != 1) {

   428

        fsm->state = ec_fsm_change_state_error;

   429

        EC_ERR("Reception of state ack check datagram failed.\n");

   430

        return;

   431

    }

   432

   433

    if (fsm->take_time) {

   434

        fsm->take_time = 0;

   435

        fsm->jiffies_start = datagram->jiffies_sent;

   436

    }

   437

   438

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

   439

   440

    if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {

   441

        char state_str[EC_STATE_STRING_SIZE];

   442

        ec_state_string(slave->current_state, state_str);

   443

        if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {

   444

            fsm->state = ec_fsm_change_state_error;

   445

        }

   446

        else { // EC_FSM_CHANGE_MODE_ACK_ONLY

   447

            fsm->state = ec_fsm_change_state_end;

   448

        }

   449

        EC_INFO("Acknowledged state %s on slave %i.\n",

   450

                state_str, slave->ring_position);

   451

        return;

   452

    }

   453

   454

    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s

   455

        // timeout while checking

   456

        char state_str[EC_STATE_STRING_SIZE];

   457

        ec_state_string(slave->current_state, state_str);

   458

        fsm->state = ec_fsm_change_state_error;

   459

        EC_ERR("Timeout while acknowledging state %s on slave %i.\n",

   460

               state_str, slave->ring_position);

   461

        return;

   462

    }

   463

   464

    // reread new AL status

   465

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

   466

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

   467

}

   468

   469

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

   470

   471

/**

   472

   State: ERROR.

   473

*/

   474

   475

void ec_fsm_change_state_error(ec_fsm_change_t *fsm

   476

                               /**< finite state machine */)

   477

{

   478

}

   479

   480

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

   481

   482

/**

   483

   State: END.

   484

*/

   485

   486

void ec_fsm_change_state_end(ec_fsm_change_t *fsm

   487

                             /**< finite state machine */)

   488

{

   489

}

   490

   491

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