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

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 *

     3

 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  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 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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 *

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 *  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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 *

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 *  ---

    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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 *

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

    29

    30

/**

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   \file

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   EtherCAT CoE state machines.

    33

*/

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    35

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

    36

    37

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_coe.h"

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

    43

    44

/** Maximum time in ms to wait for responses when reading out the dictionary.

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 */

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#define EC_FSM_COE_DICT_TIMEOUT 1000

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    48

/** CoE download request header size.

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 */

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#define EC_COE_DOWN_REQ_HEADER_SIZE 10

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    52

/** CoE download segment request header size.

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 */

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#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3

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    56

/** Minimum size of download segment.

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 */

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#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7

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    60

/** Enable debug output for CoE retries.

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 */

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#define DEBUG_RETRIES 0

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/** Enable warning output if transfers take too long.

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 */

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#define DEBUG_LONG 0

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    68

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

    69

    70

void ec_fsm_coe_dict_start(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_request(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_check(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_response(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);

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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);

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    81

void ec_fsm_coe_down_start(ec_fsm_coe_t *);

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void ec_fsm_coe_down_request(ec_fsm_coe_t *);

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void ec_fsm_coe_down_check(ec_fsm_coe_t *);

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void ec_fsm_coe_down_response(ec_fsm_coe_t *);

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void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *);

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void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *);

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void ec_fsm_coe_up_start(ec_fsm_coe_t *);

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void ec_fsm_coe_up_request(ec_fsm_coe_t *);

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void ec_fsm_coe_up_check(ec_fsm_coe_t *);

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void ec_fsm_coe_up_response(ec_fsm_coe_t *);

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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);

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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);

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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);

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    96

void ec_fsm_coe_end(ec_fsm_coe_t *);

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void ec_fsm_coe_error(ec_fsm_coe_t *);

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    99

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

   100

   101

/**

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   SDO abort messages.

   103

   The "abort SDO transfer request" supplies an abort code,

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   which can be translated to clear text. This table does

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   the mapping of the codes and messages.

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*/

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const ec_code_msg_t sdo_abort_messages[] = {

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    {0x05030000, "Toggle bit not changed"},

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    {0x05040000, "SDO protocol timeout"},

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    {0x05040001, "Client/Server command specifier not valid or unknown"},

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    {0x05040005, "Out of memory"},

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    {0x06010000, "Unsupported access to an object"},

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    {0x06010001, "Attempt to read a write-only object"},

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    {0x06010002, "Attempt to write a read-only object"},

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    {0x06020000, "This object does not exist in the object directory"},

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    {0x06040041, "The object cannot be mapped into the PDO"},

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    {0x06040042, "The number and length of the objects to be mapped would"

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     " exceed the PDO length"},

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    {0x06040043, "General parameter incompatibility reason"},

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    {0x06040047, "Gerneral internal incompatibility in device"},

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    {0x06060000, "Access failure due to a hardware error"},

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    {0x06070010, "Data type does not match, length of service parameter does"

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     " not match"},

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    {0x06070012, "Data type does not match, length of service parameter too"

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     " high"},

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    {0x06070013, "Data type does not match, length of service parameter too"

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     " low"},

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    {0x06090011, "Subindex does not exist"},

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    {0x06090030, "Value range of parameter exceeded"},

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    {0x06090031, "Value of parameter written too high"},

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    {0x06090032, "Value of parameter written too low"},

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    {0x06090036, "Maximum value is less than minimum value"},

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    {0x08000000, "General error"},

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    {0x08000020, "Data cannot be transferred or stored to the application"},

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    {0x08000021, "Data cannot be transferred or stored to the application"

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     " because of local control"},

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    {0x08000022, "Data cannot be transferred or stored to the application"

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     " because of the present device state"},

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    {0x08000023, "Object dictionary dynamic generation fails or no object"

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     " dictionary is present"},

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    {}

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};

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

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   150

{

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    const ec_code_msg_t *abort_msg;

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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {

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        if (abort_msg->code == abort_code) {

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                   abort_msg->code, abort_msg->message);

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            return;

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        }

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    }

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}

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

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   166

/**

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   Constructor.

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*/

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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */

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                     ec_datagram_t *datagram /**< datagram */

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                     )

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{

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    fsm->state = NULL;

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    fsm->datagram = datagram;

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}

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

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   180

/**

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   Destructor.

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*/

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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)

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{

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}

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

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/**

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   Starts reading a slaves' SDO dictionary.

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*/

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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */

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                           ec_slave_t *slave /**< EtherCAT slave */

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                           )

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{

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    fsm->slave = slave;

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    fsm->state = ec_fsm_coe_dict_start;

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}

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

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   204

/**

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   Starts to transfer an SDO to/from a slave.

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*/

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void ec_fsm_coe_transfer(

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        ec_fsm_coe_t *fsm, /**< State machine. */

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

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        ec_sdo_request_t *request /**< SDO request. */

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        )

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{

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    fsm->slave = slave;

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    fsm->request = request;

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    if (request->dir == EC_DIR_OUTPUT)

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        fsm->state = ec_fsm_coe_down_start;

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    else

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        fsm->state = ec_fsm_coe_up_start;

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}

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

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/**

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   Executes the current state of the state machine.

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   \return false, if state machine has terminated

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*/

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   229

int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)

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{

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    fsm->state(fsm);

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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;

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}

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

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   238

/**

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   Returns, if the state machine terminated with success.

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   \return non-zero if successful.

   241

*/

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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)

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{

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    return fsm->state == ec_fsm_coe_end;

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}

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

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/** Check if the received data are a CoE emergency request.

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 *

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 * If the check is positive, the emergency request is output.

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 *

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 * \return The data were an emergency request.

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 */

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int ec_fsm_coe_check_emergency(

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        ec_fsm_coe_t *fsm, /**< Finite state machine */

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        const uint8_t *data, /**< CoE mailbox data. */

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        size_t size /**< CoE mailbox data size. */

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        )

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{

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    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)

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        return 0;

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   265

    if (size < 10) {

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        ec_print_data(data, size);

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        return 1;

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    }

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            EC_READ_U16(data + 2), EC_READ_U8(data + 4));

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    ec_print_data(data + 5, 5);

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    return 1;

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}

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   279

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

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 *  CoE dictionary state machine

   281

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

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/**

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   CoE state: DICT START.

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*/

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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)

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{

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    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

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    uint8_t *data;

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

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        fsm->state = ec_fsm_coe_error;

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        return;

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    }

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    if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {

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        fsm->state = ec_fsm_coe_error;

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        return;

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    }

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    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);

   307

    if (IS_ERR(data)) {

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        fsm->state = ec_fsm_coe_error;

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        return;

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    }

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    EC_WRITE_U16(data, 0x8 << 12); // SDO information

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    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request

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    EC_WRITE_U8 (data + 3, 0x00);

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    EC_WRITE_U16(data + 4, 0x0000);

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    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_coe_dict_request;

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}

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

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/**

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   CoE state: DICT REQUEST.

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   \todo Timeout behavior

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*/

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void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)

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{

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    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

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

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        return; // FIXME: request again?

   336

   337

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   338

        fsm->state = ec_fsm_coe_error;

   341

        ec_datagram_print_state(datagram);

   342

        return;

   343

    }

   344

   345

    if (datagram->working_counter != 1) {

   346

        fsm->state = ec_fsm_coe_error;

   348

        ec_datagram_print_wc_error(datagram);

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        return;

   350

    }

   351

   352

    fsm->jiffies_start = datagram->jiffies_sent;

   353

   354

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   355

    fsm->retries = EC_FSM_RETRIES;

   356

    fsm->state = ec_fsm_coe_dict_check;

   357

}

   358

   359

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

   360

   361

/**

   362

   CoE state: DICT CHECK.

   363

*/

   364

   365

void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)

   366

{

   367

    ec_datagram_t *datagram = fsm->datagram;

   368

    ec_slave_t *slave = fsm->slave;

   369

   370

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

   371

        return;

   372

   373

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_coe_error;

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        ec_datagram_print_state(datagram);

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        return;

   378

    }

   379

   380

    if (datagram->working_counter != 1) {

   381

        fsm->state = ec_fsm_coe_error;

   384

        ec_datagram_print_wc_error(datagram);

   385

        return;

   386

    }

   387

   388

    if (!ec_slave_mbox_check(datagram)) {

   389

        unsigned long diff_ms =

   390

            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;

   391

        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {

   392

            fsm->state = ec_fsm_coe_error;

   395

            return;

   396

        }

   397

   398

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   399

        fsm->retries = EC_FSM_RETRIES;

   400

        return;

   401

    }

   402

   403

    // Fetch response

   404

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   405

    fsm->retries = EC_FSM_RETRIES;

   406

    fsm->state = ec_fsm_coe_dict_response;

   407

}

   408

   409

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

   410

   411

/**

   412

   CoE state: DICT RESPONSE.

   413

   \todo Timeout behavior

   414

*/

   415

   416

void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)

   417

{

   418

    ec_datagram_t *datagram = fsm->datagram;

   419

    ec_slave_t *slave = fsm->slave;

   420

    uint8_t *data, mbox_prot;

   421

    size_t rec_size;

   422

    unsigned int sdo_count, i;

   423

    uint16_t sdo_index, fragments_left;

   424

    ec_sdo_t *sdo;

   425

   426

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

   427

        return; // FIXME: request again?

   428

   429

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   430

        fsm->state = ec_fsm_coe_error;

   433

        ec_datagram_print_state(datagram);

   434

        return;

   435

    }

   436

   437

    if (datagram->working_counter != 1) {

   438

        fsm->state = ec_fsm_coe_error;

   440

        ec_datagram_print_wc_error(datagram);

   441

        return;

   442

    }

   443

   444

    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);

   445

    if (IS_ERR(data)) {

   446

        fsm->state = ec_fsm_coe_error;

   447

        return;

   448

    }

   449

   450

    if (mbox_prot != 0x03) { // CoE

   453

        fsm->state = ec_fsm_coe_error;

   454

        return;

   455

    }

   456

   457

    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {

   458

        // check for CoE response again

   459

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   460

        fsm->retries = EC_FSM_RETRIES;

   461

        fsm->state = ec_fsm_coe_dict_check;

   462

        return;

   463

    }

   464

   465

    if (rec_size < 3) {

   468

        fsm->state = ec_fsm_coe_error;

   469

        return;

   470

    }

   471

   472

    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information

   473

        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response

   475

        if (rec_size < 10) {

   478

            ec_print_data(data, rec_size);

   479

        } else {

   481

        }

   482

        fsm->state = ec_fsm_coe_error;

   483

        return;

   484

    }

   485

   486

    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information

   487

        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response

   488

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

   491

            ec_print_data(data, rec_size);

   492

        }

   493

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   494

        fsm->retries = EC_FSM_RETRIES;

   495

        fsm->state = ec_fsm_coe_dict_check;

   496

        return;

   497

    }

   498

   499

    if (rec_size < 8 || rec_size % 2) {

   501

        ec_print_data(data, rec_size);

   502

        fsm->state = ec_fsm_coe_error;

   503

        return;

   504

    }

   505