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

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 *

     3

 *  $Id$

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 *

     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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 *

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

    10

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

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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

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

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    34

/** \file

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 * EtherCAT master state machine.

    36

 */

    37

    38

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

    39

    40

#include "globals.h"

    41

#include "master.h"

    42

#include "mailbox.h"

    43

#include "slave_config.h"

    44

#ifdef EC_EOE

    45

#include "ethernet.h"

    46

#endif

    47

    48

#include "fsm_master.h"

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    50

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

    51

    52

void ec_fsm_master_state_start(ec_fsm_master_t *);

    53

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    54

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

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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_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_end(ec_fsm_master_t *);

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void ec_fsm_master_state_error(ec_fsm_master_t *);

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    65

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

    66

    67

/** Constructor.

    68

 */

    69

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. */

    72

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

    73

        )

    74

{

    75

    fsm->master = master;

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    fsm->datagram = datagram;

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    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->slaves_responding = 0;

    80

    fsm->topology_change_pending = 0;

    81

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    82

    83

    // init sub-state-machines

    84

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

    85

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

    86

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

    87

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

    88

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

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

    90

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

    91

}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

void ec_fsm_master_clear(

    98

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

    99

        )

   100

{

   101

    // clear sub-state machines

   102

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   103

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   104

    ec_fsm_sii_clear(&fsm->fsm_sii);

   105

    ec_fsm_change_clear(&fsm->fsm_change);

   106

    ec_fsm_coe_clear(&fsm->fsm_coe);

   107

    ec_fsm_coe_map_clear(&fsm->fsm_coe_map);

   108

}

   109

   110

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

   111

   112

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

   113

 *

   114

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

   115

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

   116

 *

   117

 * \return false, if state machine has terminated

   118

 */

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int ec_fsm_master_exec(

   120

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

   121

        )

   122

{

   123

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

   124

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

   125

        // datagram was not sent or received yet.

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        return ec_fsm_master_running(fsm);

   127

    }

   128

   129

    fsm->state(fsm);

   130

    return ec_fsm_master_running(fsm);

   131

}

   132

   133

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

   134

   135

/**

   136

 * \return false, if state machine has terminated

   137

 */

   138

int ec_fsm_master_running(

   139

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

   140

        )

   141

{

   142

    return fsm->state != ec_fsm_master_state_end

   143

        && fsm->state != ec_fsm_master_state_error;

   144

}

   145

   146

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

   147

   148

/**

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

   150

 */

   151

int ec_fsm_master_idle(

   152

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

   153

        )

   154

{

   155

    return fsm->idle;

   156

}

   157

   158

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

   159

 * Master state machine

   160

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

   161

   162

/** Master state: START.

   163

 *

   164

 * Starts with getting slave count and slave states.

   165

 */

   166

void ec_fsm_master_state_start(

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

   168

        )

   169

{

   170

    fsm->idle = 1;

   171

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

   172

    fsm->state = ec_fsm_master_state_broadcast;

   173

}

   174

   175

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

   176

   177

/** Master state: BROADCAST.

   178

 *

   179

 * Processes the broadcast read slave count and slaves states.

   180

 */

   181

void ec_fsm_master_state_broadcast(

   182

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

   183

        )

   184

{

   185

    ec_datagram_t *datagram = fsm->datagram;

   186

    unsigned int i, size;

   187

    ec_slave_t *slave;

   188

    ec_master_t *master = fsm->master;

   189

   190

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   192

   193

    // bus topology change?

   194

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

   195

        fsm->topology_change_pending = 1;

   196

        fsm->slaves_responding = datagram->working_counter;

   197

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

   198

    }

   199

   200

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

   201

        fsm->state = ec_fsm_master_state_error;

   202

        return;

   203

    }

   204

   205

    // slave states changed?

   206

    if (EC_READ_U8(datagram->data) != fsm->slave_states) {

   207

        char states[EC_STATE_STRING_SIZE];

   208

        fsm->slave_states = EC_READ_U8(datagram->data);

   209

        ec_state_string(fsm->slave_states, states);

   210

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

   211

    }

   212

   213

    if (fsm->topology_change_pending) {

   214

        down(&master->scan_sem);

   215

        if (!master->allow_scan) {

   216

            up(&master->scan_sem);

   217

        } else {

   218

            master->scan_busy = 1;

   219

            up(&master->scan_sem);

   220

   221

            // topology change when scan is allowed:

   222

            // clear all slaves and scan the bus

   223

            fsm->topology_change_pending = 0;

   224

            fsm->idle = 0;

   225

            fsm->scan_jiffies = jiffies;

   226

   227

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   229

            ec_master_clear_eoe_handlers(master);

   230

#endif

   231

            ec_master_clear_slaves(master);

   232

            master->configs_attached = 0;

   233

   234

            master->slave_count = fsm->slaves_responding;

   235

   236

            if (!master->slave_count) {

   237

                // no slaves present -> finish state machine.

   238

                master->scan_busy = 0;

   239

                wake_up_interruptible(&master->scan_queue);

   240

                fsm->state = ec_fsm_master_state_end;

   241

                return;

   242

            }

   243

   244

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

   245

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

   246

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

   247

                        size);

   248

                master->slave_count = 0; // FIXME avoid scanning!

   249

                master->scan_busy = 0;

   250

                wake_up_interruptible(&master->scan_queue);

   251

                fsm->state = ec_fsm_master_state_error;

   252

                return;

   253

            }

   254

   255

            // init slaves

   256

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

   257

                slave = master->slaves + i;

   258

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

   259

   260

                // do not force reconfiguration in operation mode to avoid

   261

                // unnecesssary process data interruptions

   262

                if (master->mode != EC_MASTER_MODE_OPERATION)

   263

                    slave->force_config = 1;

   264

            }

   265

   266

            // broadcast clear all station addresses

   267

            ec_datagram_bwr(datagram, 0x0010, 2);

   268

            EC_WRITE_U16(datagram->data, 0x0000);

   269

            fsm->retries = EC_FSM_RETRIES;

   270

            fsm->state = ec_fsm_master_state_clear_addresses;

   271

            return;

   272

        }

   273

    }

   274

   275

    if (master->slave_count) {

   276

        // fetch state from first slave

   277

        fsm->slave = master->slaves;

   278

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

   279

                0x0130, 2);

   280

        fsm->retries = EC_FSM_RETRIES;

   281

        fsm->state = ec_fsm_master_state_read_state;

   282

    } else {

   283

        fsm->state = ec_fsm_master_state_end;

   284

    }

   285

}

   286

   287

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

   288

   289

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

   290

 * 

   291

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

   292

 */

   293

int ec_fsm_master_action_process_sii(

   294

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

   295

        )

   296

{

   297

    ec_master_t *master = fsm->master;

   298

    ec_sii_write_request_t *request;

   299

   300

    // search the first request to be processed

   301

    while (1) {

   302

        down(&master->sii_sem);

   303

        if (list_empty(&master->sii_requests)) {

   304

            up(&master->sii_sem);

   305

            break;

   306

        }

   307

        // get first request

   308

        request = list_entry(master->sii_requests.next,

   309

                ec_sii_write_request_t, list);

   310

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

   311

        request->state = EC_REQUEST_BUSY;

   312

        up(&master->sii_sem);

   313

   314

        // found pending SII write operation. execute it!

   315

        if (master->debug_level)

   316

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

   317

                    request->slave->ring_position);

   318

        fsm->sii_request = request;

   319

        fsm->sii_index = 0;

   320

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

   321

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   322

        fsm->state = ec_fsm_master_state_write_sii;

   323

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

   324

        return 1;

   325

    }

   326

   327

    return 0;

   328

}

   329

   330

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

   331

   332

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

   333

 * 

   334

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

   335

 */

   336

int ec_fsm_master_action_process_sdo(

   337

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

   338

        )

   339

{

   340

    ec_master_t *master = fsm->master;

   341

    ec_slave_t *slave;

   342

    ec_sdo_request_t *req;

   343

    ec_master_sdo_request_t *request;

   344

   345

    // search for internal requests to be processed

   346

    for (slave = master->slaves;

   347

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

   348

            slave++) {

   349

        if (!slave->config)

   350

            continue;

   351

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

   352

            if (req->state == EC_REQUEST_QUEUED) {

   353

   354

                if (ec_sdo_request_timed_out(req)) {

   355

                    req->state = EC_REQUEST_FAILURE;

   356

                    if (master->debug_level)

   357

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

   358

                                slave->ring_position);

   359

                    continue;

   360

                }

   361

   362

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   363

                    req->state = EC_REQUEST_FAILURE;

   364

                    continue;

   365

                }

   366

   367

                req->state = EC_REQUEST_BUSY;

   368

                if (master->debug_level)

   369

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

   370

                            slave->ring_position);

   371

   372

                fsm->idle = 0;

   373

                fsm->sdo_request = req;

   374

                fsm->slave = slave;

   375

                fsm->state = ec_fsm_master_state_sdo_request;

   376

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

   377

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

   378

                return 1;

   379

            }

   380

        }

   381

    }

   382

   383

    // search the first external request to be processed

   384

    while (1) {

   385

        down(&master->sdo_sem);

   386

        if (list_empty(&master->slave_sdo_requests)) {

   387

            up(&master->sdo_sem);

   388

            break;

   389

        }

   390

        // get first request

   391

        request = list_entry(master->slave_sdo_requests.next,

   392

                ec_master_sdo_request_t, list);

   393

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

   394

        request->req.state = EC_REQUEST_BUSY;

   395

        up(&master->sdo_sem);

   396

   397

        slave = request->slave;

   398

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   399

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

   400

                    slave->ring_position);

   401

            request->req.state = EC_REQUEST_FAILURE;

   402

            wake_up(&master->sdo_queue);

   403

            continue;

   404

        }

   405

   406

        // Found pending Sdo request. Execute it!

   407

        if (master->debug_level)

   408

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

   409

                    slave->ring_position);

   410

   411

        // Start uploading Sdo

   412

        fsm->idle = 0;

   413

        fsm->sdo_request = &request->req;

   414

        fsm->slave = slave;

   415

        fsm->state = ec_fsm_master_state_sdo_request;

   416

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

   417

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

   418

        return 1;

   419

    }

   420

   421

    return 0;

   422

}

   423

   424

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

   425

   426

/** Master action: IDLE.

   427

 *

   428

 * Does secondary work.

   429

 */

   430

void ec_fsm_master_action_idle(

   431

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

   432

        )

   433

{

   434

    ec_master_t *master = fsm->master;

   435

    ec_slave_t *slave;

   436

   437

    // Check for pending Sdo requests

   438

    if (ec_fsm_master_action_process_sdo(fsm))

   439

        return;

   440

   441

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

   442

    for (slave = master->slaves;

   443

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

   444

            slave++) {

   445

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

   446

                || slave->sdo_dictionary_fetched

   447

                || slave->current_state == EC_SLAVE_STATE_INIT

   448

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

   449

                ) continue;

   450

   451

        if (master->debug_level) {

   452

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

   453

                    slave->ring_position);

   454

        }

   455

   456

        slave->sdo_dictionary_fetched = 1;

   457

   458

        // start fetching Sdo dictionary

   459

        fsm->idle = 0;

   460

        fsm->slave = slave;

   461

        fsm->state = ec_fsm_master_state_sdo_dictionary;

   462

        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);

   463

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

   464

        return;

   465

    }

   466

   467

    // check for pending SII write operations.

   468

    if (ec_fsm_master_action_process_sii(fsm))

   469

        return; // SII write request found

   470

   471

    fsm->state = ec_fsm_master_state_end;

   472

}

   473

   474

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

   475

   476

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

   477

 */

   478

void ec_fsm_master_action_next_slave_state(

   479

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

   480

        )

   481

{

   482

    ec_master_t *master = fsm->master;

   483

   484

    // is there another slave to query?

   485

    fsm->slave++;

   486

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