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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  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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 *

     9

 *  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

    11

 *  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

    15

 *  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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 *

    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

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

    33

    34

/** \file

    35

 *

    36

 * EtherCAT slave configuration state machine.

    37

 */

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "mailbox.h"

    44

#include "slave_config.h"

    45

#include "fsm_slave_config.h"

    46

    47

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

    48

    49

void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);

    50

void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);

    51

void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);

    52

void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);

    53

void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);

    54

void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);

    55

void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);

    56

void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);

    57

void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);

    58

void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);

    59

void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);

    60

    61

void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);

    62

void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);

    63

void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);

    64

void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);

    65

void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);

    67

void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);

    68

    69

void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);

    70

void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_slave_config_init(

    77

        ec_fsm_slave_config_t *fsm, /**< slave state machine */

    78

        ec_datagram_t *datagram, /**< datagram structure to use */

    79

        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */

    80

        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */

    81

        ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration state machine to use. */

    82

        )

    83

{

    84

    fsm->datagram = datagram;

    85

    fsm->fsm_change = fsm_change;

    86

    fsm->fsm_coe = fsm_coe;

    87

    fsm->fsm_pdo = fsm_pdo;

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}

    89

    90

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

    91

    92

/** Destructor.

    93

 */

    94

void ec_fsm_slave_config_clear(

    95

        ec_fsm_slave_config_t *fsm /**< slave state machine */

    96

        )

    97

{

    98

}

    99

   100

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

   101

   102

/** Start slave configuration state machine.

   103

 */

   104

void ec_fsm_slave_config_start(

   105

        ec_fsm_slave_config_t *fsm, /**< slave state machine */

   106

        ec_slave_t *slave /**< slave to configure */

   107

        )

   108

{

   109

    fsm->slave = slave;

   110

    fsm->state = ec_fsm_slave_config_state_start;

   111

}

   112

   113

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

   114

   115

/**

   116

 * \return false, if state machine has terminated

   117

 */

   118

int ec_fsm_slave_config_running(

   119

        const ec_fsm_slave_config_t *fsm /**< slave state machine */

   120

        )

   121

{

   122

    return fsm->state != ec_fsm_slave_config_state_end

   123

        && fsm->state != ec_fsm_slave_config_state_error;

   124

}

   125

   126

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

   127

   128

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

   129

 *

   130

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

   131

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

   132

 *

   133

 * \return false, if state machine has terminated

   134

 */

   135

int ec_fsm_slave_config_exec(

   136

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   137

        )

   138

{

   139

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

   140

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

   141

        // datagram was not sent or received yet.

   142

        return ec_fsm_slave_config_running(fsm);

   143

    }

   144

   145

    fsm->state(fsm);

   146

    return ec_fsm_slave_config_running(fsm);

   147

}

   148

   149

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

   150

   151

/**

   152

 * \return true, if the state machine terminated gracefully

   153

 */

   154

int ec_fsm_slave_config_success(

   155

        const ec_fsm_slave_config_t *fsm /**< slave state machine */

   156

        )

   157

{

   158

    return fsm->state == ec_fsm_slave_config_state_end;

   159

}

   160

   161

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

   162

 * Slave configuration state machine

   163

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

   164

   165

/** Slave configuration state: START.

   166

 */

   167

void ec_fsm_slave_config_state_start(

   168

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   169

        )

   170

{

   171

    if (fsm->slave->master->debug_level) {

   172

        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);

   173

    }

   174

   175

    // configuration will be done immediately; therefore reset the

   176

    // force flag

   177

    fsm->slave->force_config = 0;

   178

   179

    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

   180

    ec_fsm_change_exec(fsm->fsm_change);

   181

    fsm->state = ec_fsm_slave_config_state_init;

   182

}

   183

   184

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

   185

   186

/** Slave configuration state: INIT.

   187

 */

   188

void ec_fsm_slave_config_state_init(

   189

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   190

        )

   191

{

   192

    ec_master_t *master = fsm->slave->master;

   193

    ec_slave_t *slave = fsm->slave;

   194

    ec_datagram_t *datagram = fsm->datagram;

   195

   196

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   197

   198

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   199

        if (!fsm->fsm_change->spontaneous_change)

   200

            slave->error_flag = 1;

   201

        fsm->state = ec_fsm_slave_config_state_error;

   202

        return;

   203

    }

   204

   205

    if (master->debug_level) {

   206

        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);

   207

    }

   208

   209

    if (!slave->base_fmmu_count) { // skip FMMU configuration

   210

        ec_fsm_slave_config_enter_mbox_sync(fsm);

   211

        return;

   212

    }

   213

   214

    if (master->debug_level)

   215

        EC_DBG("Clearing FMMU configurations of slave %u...\n",

   216

               slave->ring_position);

   217

   218

    // clear FMMU configurations

   219

    ec_datagram_fpwr(datagram, slave->station_address,

   220

            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

   221

    memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

   222

    fsm->retries = EC_FSM_RETRIES;

   223

    fsm->state = ec_fsm_slave_config_state_clear_fmmus;

   224

}

   225

   226

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

   227

   228

/** Slave configuration state: CLEAR FMMU.

   229

 */

   230

void ec_fsm_slave_config_state_clear_fmmus(

   231

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   232

        )

   233

{

   234

    ec_datagram_t *datagram = fsm->datagram;

   235

   236

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   237

        return;

   238

   239

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   240

        fsm->state = ec_fsm_slave_config_state_error;

   241

        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",

   242

               fsm->slave->ring_position);

   243

        return;

   244

    }

   245

   246

    if (datagram->working_counter != 1) {

   247

        fsm->slave->error_flag = 1;

   248

        fsm->state = ec_fsm_slave_config_state_error;

   249

        EC_ERR("Failed to clear FMMUs of slave %u: ",

   250

               fsm->slave->ring_position);

   251

        ec_datagram_print_wc_error(datagram);

   252

        return;

   253

    }

   254

   255

    ec_fsm_slave_config_enter_mbox_sync(fsm);

   256

}

   257

   258

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

   259

   260

/** Check for mailbox sync managers to be configured.

   261

 */

   262

void ec_fsm_slave_config_enter_mbox_sync(

   263

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   264

        )

   265

{

   266

    ec_master_t *master = fsm->slave->master;

   267

    ec_slave_t *slave = fsm->slave;

   268

    ec_datagram_t *datagram = fsm->datagram;

   269

    unsigned int i;

   270

   271

    // slave is now in INIT

   272

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

   273

        fsm->state = ec_fsm_slave_config_state_end; // successful

   274

        if (master->debug_level) {

   275

            EC_DBG("Finished configuration of slave %u.\n",

   276

                   slave->ring_position);

   277

        }

   278

        return;

   279

    }

   280

   281

    if (!slave->sii.mailbox_protocols) {

   282

        // no mailbox protocols supported

   283

        if (master->debug_level)

   284

            EC_DBG("Slave %u does not support mailbox communication.\n",

   285

                    slave->ring_position);

   286

        ec_fsm_slave_config_enter_preop(fsm);

   287

        return;

   288

    }

   289

   290

    if (master->debug_level) {

   291

        EC_DBG("Configuring mailbox sync managers of slave %u.\n",

   292

               slave->ring_position);

   293

    }

   294

   295

    if (slave->sii.sync_count >= 2) { // mailbox configuration provided

   296

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   297

                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

   298

        memset(datagram->data, 0x00,

   299

                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

   300

   301

        for (i = 0; i < 2; i++) {

   302

            ec_sync_page(&slave->sii.syncs[i], i,

   303

                    slave->sii.syncs[i].default_length,

   304

                    EC_DIR_INVALID, // use default direction

   305

                    datagram->data + EC_SYNC_PAGE_SIZE * i);

   306

        }

   307

    } else { // no mailbox sync manager configurations provided

   308

        ec_sync_t sync;

   309

   310

        if (master->debug_level)

   311

            EC_DBG("Slave %u does not provide"

   312

                    " mailbox sync manager configurations.\n",

   313

                    slave->ring_position);

   314

   315

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   316

                EC_SYNC_PAGE_SIZE * 2);

   317

        memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);

   318

   319

        ec_sync_init(&sync, slave);

   320

        sync.physical_start_address = slave->sii.rx_mailbox_offset;

   321

        sync.control_register = 0x26;

   322

        sync.enable = 1;

   323

        ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,

   324

                EC_DIR_INVALID, // use default direction

   325

                datagram->data);

   326

   327

        ec_sync_init(&sync, slave);

   328

        sync.physical_start_address = slave->sii.tx_mailbox_offset;

   329

        sync.control_register = 0x22;

   330

        sync.enable = 1;

   331

        ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,

   332

                EC_DIR_INVALID, // use default direction

   333

                datagram->data + EC_SYNC_PAGE_SIZE);

   334

    }

   335

   336

    fsm->retries = EC_FSM_RETRIES;

   337

    fsm->state = ec_fsm_slave_config_state_mbox_sync;

   338

}

   339

   340

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

   341

   342

/** Slave configuration state: SYNC.

   343

 */

   344

void ec_fsm_slave_config_state_mbox_sync(

   345

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   346

        )

   347

{

   348

    ec_datagram_t *datagram = fsm->datagram;

   349

    ec_slave_t *slave = fsm->slave;

   350

   351

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   352

        return;

   353

   354

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   355

        fsm->state = ec_fsm_slave_config_state_error;

   356

        EC_ERR("Failed to receive sync manager configuration datagram for"

   357

               " slave %u (datagram state %u).\n",

   358

               slave->ring_position, datagram->state);

   359

        return;

   360

    }

   361

   362

    if (datagram->working_counter != 1) {

   363

        slave->error_flag = 1;

   364

        fsm->state = ec_fsm_slave_config_state_error;

   365

        EC_ERR("Failed to set sync managers of slave %u: ",

   366

               slave->ring_position);

   367

        ec_datagram_print_wc_error(datagram);

   368

        return;

   369

    }

   370

   371

    ec_fsm_slave_config_enter_preop(fsm);

   372

}

   373

   374

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

   375

   376

/** Request PREOP state.

   377

 */

   378

void ec_fsm_slave_config_enter_preop(

   379

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   380

        )

   381

{

   382

    fsm->state = ec_fsm_slave_config_state_preop;

   383

    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);

   384

    ec_fsm_change_exec(fsm->fsm_change); // execute immediately

   385

}

   386

   387

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

   388

   389

/** Slave configuration state: PREOP.

   390

 */

   391

void ec_fsm_slave_config_state_preop(

   392

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   393

        )

   394

{

   395

    ec_slave_t *slave = fsm->slave;

   396

    ec_master_t *master = fsm->slave->master;

   397

   398

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   399

   400

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   401

        if (!fsm->fsm_change->spontaneous_change)

   402

            slave->error_flag = 1;

   403

        fsm->state = ec_fsm_slave_config_state_error;

   404

        return;

   405

    }

   406

   407

    // slave is now in PREOP

   408

    slave->jiffies_preop = fsm->datagram->jiffies_received;

   409

   410

    if (master->debug_level) {

   411

        EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position);

   412

    }

   413

   414

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

   415

        fsm->state = ec_fsm_slave_config_state_end; // successful

   416

        if (master->debug_level) {

   417

            EC_DBG("Finished configuration of slave %u.\n",

   418

                   slave->ring_position);

   419

        }

   420

        return;

   421

    }

   422

   423

    if (!slave->config) {

   424

        EC_DBG("Slave %u is not configured.\n", slave->ring_position);

   425

        ec_fsm_slave_config_enter_safeop(fsm);

   426

        return;

   427

    }

   428

   429

    ec_fsm_slave_config_enter_sdo_conf(fsm);

   430

}

   431

   432

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

   433

   434

/** Check for Sdo configurations to be applied.

   435

 */

   436

void ec_fsm_slave_config_enter_sdo_conf(

   437

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   438

        )

   439

{

   440

    ec_slave_t *slave = fsm->slave;

   441

   442

    // No CoE configuration to be applied?

   443

    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration

   444

        ec_fsm_slave_config_enter_pdo_conf(fsm);

   445

        return;

   446

    }

   447

   448

    // start Sdo configuration

   449

    fsm->state = ec_fsm_slave_config_state_sdo_conf;

   450

    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,

   451

            ec_sdo_request_t, list);

   452

    ecrt_sdo_request_write(fsm->request);

   453

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

   454

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

   455

}

   456

   457

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

   458

   459

/** Slave configuration state: SDO_CONF.

   460

 */

   461

void ec_fsm_slave_config_state_sdo_conf(

   462

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   463

        )

   464

{

   465

    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   466

   467

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   468

        EC_ERR("Sdo configuration failed for slave %u.\n",

   469

                fsm->slave->ring_position);

   470

        fsm->slave->error_flag = 1;

   471

        fsm->state = ec_fsm_slave_config_state_error;

   472

        return;

   473

    }

   474

   475

    // Another Sdo to configure?

   476

    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {

   477

        fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,

   478

                list);

   479

        ecrt_sdo_request_write(fsm->request);

   480

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

   481

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

   482

        return;

   483

    }

   484

   485

    // All Sdos are now configured.

   486

    ec_fsm_slave_config_enter_pdo_conf(fsm);

   487

}

   488

   489

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

   490

   491

/** PDO_CONF entry function.

   492

 */

   493

void ec_fsm_slave_config_enter_pdo_conf(

   494

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   495

        )

   496

{

   497

    // Start configuring Pdos

   498

    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);

   499

    fsm->state = ec_fsm_slave_config_state_pdo_conf;

   500

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

   501

}

   502

   503

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

   504

   505

/** Slave configuration state: PDO_CONF.

   506

 */

   507

void ec_fsm_slave_config_state_pdo_conf(

   508

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   509

        )

   510

{