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

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 *

     3

 *  $Id$

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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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 *

    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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/**

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   \file

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   EtherCAT finite state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

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#include "master.h"

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    45

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

    46

    47

#define EC_CAT_MEM 0x100

    48

    49

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

    50

    51

const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_fsm_master_start(ec_fsm_t *);

    56

void ec_fsm_master_wait(ec_fsm_t *);

    57

void ec_fsm_master_scan(ec_fsm_t *);

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void ec_fsm_master_conf(ec_fsm_t *);

    59

    60

void ec_fsm_slave_start_reading(ec_fsm_t *);

    61

void ec_fsm_slave_read_status(ec_fsm_t *);

    62

void ec_fsm_slave_read_base(ec_fsm_t *);

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void ec_fsm_slave_read_dl(ec_fsm_t *);

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void ec_fsm_slave_prepare_sii(ec_fsm_t *);

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void ec_fsm_slave_read_sii(ec_fsm_t *);

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void ec_fsm_slave_category_header(ec_fsm_t *);

    67

void ec_fsm_slave_category_data(ec_fsm_t *);

    68

void ec_fsm_slave_conf(ec_fsm_t *);

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void ec_fsm_slave_end(ec_fsm_t *);

    70

    71

void ec_fsm_slave_conf(ec_fsm_t *);

    72

void ec_fsm_slave_sync(ec_fsm_t *);

    73

void ec_fsm_slave_preop(ec_fsm_t *);

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void ec_fsm_slave_fmmu(ec_fsm_t *);

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void ec_fsm_slave_saveop(ec_fsm_t *);

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void ec_fsm_slave_op(ec_fsm_t *);

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void ec_fsm_slave_op2(ec_fsm_t *);

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    79

void ec_fsm_sii_start_reading(ec_fsm_t *);

    80

void ec_fsm_sii_check(ec_fsm_t *);

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void ec_fsm_sii_fetch(ec_fsm_t *);

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void ec_fsm_sii_finished(ec_fsm_t *);

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void ec_fsm_sii_error(ec_fsm_t *);

    84

    85

void ec_fsm_change_start(ec_fsm_t *);

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void ec_fsm_change_check(ec_fsm_t *);

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void ec_fsm_change_status(ec_fsm_t *);

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void ec_fsm_change_code(ec_fsm_t *);

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void ec_fsm_change_ack(ec_fsm_t *);

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void ec_fsm_change_ack2(ec_fsm_t *);

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void ec_fsm_change_end(ec_fsm_t *);

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void ec_fsm_change_error(ec_fsm_t *);

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    94

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

    95

    96

int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)

    97

{

    98

    fsm->master = master;

    99

    fsm->master_state = ec_fsm_master_start;

   100

    fsm->master_slaves_responding = 0;

   101

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   102

    fsm->slave_cat_data = NULL;

   103

   104

    ec_command_init(&fsm->command);

   105

    if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {

   106

        EC_ERR("FSM failed to allocate FSM command.\n");

   107

        return -1;

   108

    }

   109

   110

    return 0;

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}

   112

   113

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

   114

   115

void ec_fsm_clear(ec_fsm_t *fsm)

   116

{

   117

    if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);

   118

    ec_command_clear(&fsm->command);

   119

}

   120

   121

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

   122

   123

void ec_fsm_reset(ec_fsm_t *fsm)

   124

{

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    fsm->master_state = ec_fsm_master_start;

   126

    fsm->master_slaves_responding = 0;

   127

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   128

   129

    if (fsm->slave_cat_data) {

   130

        kfree(fsm->slave_cat_data);

   131

        fsm->slave_cat_data = NULL;

   132

    }

   133

}

   134

   135

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

   136

   137

void ec_fsm_execute(ec_fsm_t *fsm)

   138

{

   139

    fsm->master_state(fsm);

   140

}

   141

   142

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

   143

 *  master state machine

   144

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

   145

   146

/**

   147

   State: Start.

   148

   Starts with getting slave count and slave states.

   149

*/

   150

   151

void ec_fsm_master_start(ec_fsm_t *fsm)

   152

{

   153

    ec_command_brd(&fsm->command, 0x0130, 2);

   154

    ec_master_queue_command(fsm->master, &fsm->command);

   155

    fsm->master_state = ec_fsm_master_wait;

   156

}

   157

   158

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

   159

   160

void ec_fsm_master_wait(ec_fsm_t *fsm)

   161

{

   162

    ec_command_t *command = &fsm->command;

   163

    unsigned int topology_change, i, eoe_slaves_active;

   164

    ec_slave_t *slave;

   165

   166

    if (command->state != EC_CMD_RECEIVED) {

   167

        if (!fsm->master->device->link_state)

   168

            // treat link down as topology change

   169

            fsm->master_slaves_responding = 0;

   170

        fsm->master_state = ec_fsm_master_start;

   171

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

   172

        return;

   173

    }

   174

   175

    if (command->working_counter == fsm->master_slaves_responding &&

   176

        command->data[0] == fsm->master_slave_states)

   177

    {

   178

        // check if any slaves are not in the state, they're supposed to be

   179

        list_for_each_entry(slave, &fsm->master->slaves, list) {

   180

            if (slave->state_error ||

   181

                slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   182

                slave->current_state == slave->requested_state) continue;

   183

   184

            EC_INFO("Changing state of slave %i from ", slave->ring_position);

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            ec_print_states(slave->current_state);

   186

            printk(" to ");

   187

            ec_print_states(slave->requested_state);

   188

            printk(".\n");

   189

   190

            fsm->slave = slave;

   191

            fsm->slave_state = ec_fsm_slave_conf;

   192

   193

            fsm->change_new = EC_SLAVE_STATE_INIT;

   194

            fsm->change_state = ec_fsm_change_start;

   195

   196

            fsm->master_state = ec_fsm_master_conf;

   197

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

   198

            return;

   199

        }

   200

   201

        // nothing to configure...

   202

        eoe_slaves_active = 0;

   203

        list_for_each_entry(slave, &fsm->master->slaves, list) {

   204

            if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {

   205

                eoe_slaves_active++;

   206

            }

   207

        }

   208

   209

        if (eoe_slaves_active && !list_empty(&fsm->master->eoe_handlers))

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            ec_master_eoe_start(fsm->master);

   211

   212

        fsm->master_state = ec_fsm_master_start;

   213

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

   214

        return;

   215

    }

   216

   217

    topology_change = command->working_counter !=

   218

        fsm->master_slaves_responding;

   219

   220

    fsm->master_slaves_responding = command->working_counter;

   221

    fsm->master_slave_states = command->data[0];

   222

   223

    EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,

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            fsm->master_slaves_responding == 1 ? "" : "s");

   225

    ec_print_states(fsm->master_slave_states);

   226

    printk(")\n");

   227

   228

    if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {

   229

        fsm->master_state = ec_fsm_master_start;

   230

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

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        return;

   232

    }

   233

   234

    EC_INFO("Topology change detected - Scanning bus.\n");

   235

   236

    ec_master_eoe_stop(fsm->master);

   237

    ec_master_clear_slaves(fsm->master);

   238

   239

    if (!fsm->master_slaves_responding) {

   240

        // no slaves present -> finish state machine.

   241

        fsm->master_state = ec_fsm_master_start;

   242

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

   243

        return;

   244

    }

   245

   246

    // init slaves

   247

    for (i = 0; i < fsm->master_slaves_responding; i++) {

   248

        if (!(slave =

   249

              (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {

   250

            EC_ERR("FSM failed to allocate slave %i!\n", i);

   251

            fsm->master_state = ec_fsm_master_start;

   252

            return;

   253

        }

   254

   255

        if (ec_slave_init(slave, fsm->master, i, i + 1)) {

   256

            fsm->master_state = ec_fsm_master_start;

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            return;

   258

        }

   259

   260

        if (kobject_add(&slave->kobj)) {

   261

            EC_ERR("FSM failed to add kobject.\n");

   262

            kobject_put(&slave->kobj); // free

   263

            fsm->master_state = ec_fsm_master_start;

   264

            return;

   265

        }

   266

   267

        list_add_tail(&slave->list, &fsm->master->slaves);

   268

    }

   269

   270

    // begin scanning of slaves

   271

    fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);

   272

    fsm->slave_state = ec_fsm_slave_start_reading;

   273

   274

    fsm->master_state = ec_fsm_master_scan;

   275

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

   276

}

   277

   278

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

   279

   280

/**

   281

   State: Get Slave.

   282

   Executes the sub-statemachine of a slave.

   283

*/

   284

   285

void ec_fsm_master_scan(ec_fsm_t *fsm)

   286

{

   287

    ec_master_t *master = fsm->master;

   288

    ec_slave_t *slave = fsm->slave;

   289

   290

    fsm->slave_state(fsm); // execute slave state machine

   291

   292

    if (fsm->slave_state != ec_fsm_slave_end) return;

   293

   294

    // have all slaves been fetched?

   295

    if (slave->list.next == &master->slaves)

   296

    {

   297

        uint16_t coupler_index, coupler_subindex;

   298

        uint16_t reverse_coupler_index, current_coupler_index;

   299

        ec_slave_t *slave;

   300

        ec_slave_ident_t *ident;

   301

   302

        EC_INFO("Bus scanning completed.\n");

   303

   304

        // identify all slaves and calculate coupler addressing

   305

   306

        coupler_index = 0;

   307

        reverse_coupler_index = 0xFFFF;

   308

        current_coupler_index = 0x3FFF;

   309

        coupler_subindex = 0;

   310

   311

        list_for_each_entry(slave, &master->slaves, list)

   312

        {

   313

            // search for identification in "database"

   314

            ident = slave_idents;

   315

            while (ident->type) {

   316

                if (ident->vendor_id == slave->sii_vendor_id

   317

                    && ident->product_code == slave->sii_product_code) {

   318

                    slave->type = ident->type;

   319

                    break;

   320

                }

   321

                ident++;

   322

            }

   323

   324

            if (!slave->type) {

   325

                EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"

   326

                        " code 0x%08X) at position %i.\n",

   327

                        slave->sii_vendor_id, slave->sii_product_code,

   328

                        slave->ring_position);

   329

            }

   330

            else {

   331

                // if the slave is a bus coupler, change adressing base

   332

                if (slave->type->special == EC_TYPE_BUS_COUPLER) {

   333

                    if (slave->sii_alias)

   334

                        current_coupler_index = reverse_coupler_index--;

   335

                    else

   336

                        current_coupler_index = coupler_index++;

   337

                    coupler_subindex = 0;

   338

                }

   339

            }

   340

   341

            // determine initial state.

   342

            if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {

   343

                slave->requested_state = EC_SLAVE_STATE_OP;

   344

            }

   345

            else {

   346

                if (master->mode == EC_MASTER_MODE_RUNNING)

   347

                    slave->requested_state = EC_SLAVE_STATE_PREOP;

   348

                else

   349

                    slave->requested_state = EC_SLAVE_STATE_INIT;

   350

            }

   351

   352

            // calculate coupler-based slave address

   353

            slave->coupler_index = current_coupler_index;

   354

            slave->coupler_subindex = coupler_subindex;

   355

            coupler_subindex++;

   356

        }

   357

   358

        fsm->master_state = ec_fsm_master_start;

   359

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

   360

        return;

   361

    }

   362

   363

    // process next slave

   364

    fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);

   365

    fsm->slave_state = ec_fsm_slave_start_reading;

   366

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

   367

}

   368

   369

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

   370

   371

/**

   372

   Free-Run state: Configure slaves.

   373

*/

   374

   375

void ec_fsm_master_conf(ec_fsm_t *fsm)

   376

{

   377

    ec_master_t *master = fsm->master;

   378

    ec_slave_t *slave;

   379

   380

    fsm->slave_state(fsm); // execute slave's state machine

   381

   382

    if (fsm->slave_state != ec_fsm_slave_end) return;

   383

   384

    // check if any slaves are not in the state, they're supposed to be

   385

    list_for_each_entry(slave, &master->slaves, list) {

   386

        if (slave->state_error ||

   387

            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   388

            slave->current_state == slave->requested_state) continue;

   389

   390

        EC_INFO("Changing state of slave %i from ", slave->ring_position);

   391

        ec_print_states(slave->current_state);

   392

        printk(" to ");

   393

        ec_print_states(slave->requested_state);

   394

        printk(".\n");

   395

   396

        fsm->slave = slave;

   397

        fsm->slave_state = ec_fsm_slave_conf;

   398

   399

        fsm->change_new = EC_SLAVE_STATE_INIT;

   400

        fsm->change_state = ec_fsm_change_start;

   401

   402

        fsm->master_state = ec_fsm_master_conf;

   403

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

   404

        return;

   405

    }

   406

   407

    fsm->master_state = ec_fsm_master_start;

   408

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

   409

}

   410

   411

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

   412

 *  slave state machine

   413

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

   414

   415

/**

   416

   Slave state: Start.

   417

   First state of the slave state machine. Writes the station address to the

   418

   slave, according to its ring position.

   419

*/

   420

   421

void ec_fsm_slave_start_reading(ec_fsm_t *fsm)

   422

{

   423

    ec_command_t *command = &fsm->command;

   424

   425

    // write station address

   426

    ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);

   427

    EC_WRITE_U16(command->data, fsm->slave->station_address);

   428

    ec_master_queue_command(fsm->master, command);

   429

    fsm->slave_state = ec_fsm_slave_read_status;

   430

}

   431

   432

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

   433

   434

/**

   435

   Slave state: Read status.

   436

*/

   437

   438

void ec_fsm_slave_read_status(ec_fsm_t *fsm)

   439

{

   440

    ec_command_t *command = &fsm->command;

   441

   442

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   443

        EC_ERR("FSM failed to write station address of slave %i.\n",

   444

               fsm->slave->ring_position);

   445

        fsm->slave_state = ec_fsm_slave_end;

   446

        return;

   447

    }

   448

   449

    // read AL status

   450

    ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);

   451

    ec_master_queue_command(fsm->master, command);

   452

    fsm->slave_state = ec_fsm_slave_read_base;

   453

}

   454

   455

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

   456

   457

/**

   458

   Slave state: Read base.

   459

*/

   460

   461

void ec_fsm_slave_read_base(ec_fsm_t *fsm)

   462

{

   463

    ec_command_t *command = &fsm->command;

   464

    ec_slave_t *slave = fsm->slave;

   465

   466

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   467

        EC_ERR("FSM failed to read AL status of slave %i.\n",

   468

               fsm->slave->ring_position);

   469

        fsm->slave_state = ec_fsm_slave_end;

   470

        return;

   471

    }

   472

   473

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

   474

    if (slave->current_state & EC_ACK) {

   475

        EC_WARN("Slave %i has status error bit set (0x%02X)!\n",

   476

                slave->ring_position, slave->current_state);

   477

        slave->current_state &= 0x0F;

   478

    }

   479

   480

    // read base data

   481

    ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);

   482

    ec_master_queue_command(fsm->master, command);

   483

    fsm->slave_state = ec_fsm_slave_read_dl;

   484

}

   485

   486

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

   487

   488

/**

   489

   Slave state: Read DL.

   490

*/

   491

   492

void ec_fsm_slave_read_dl(ec_fsm_t *fsm)

   493

{

   494

    ec_command_t *command = &fsm->command;

   495

    ec_slave_t *slave = fsm->slave;

   496

   497

    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

   498

        EC_ERR("FSM failed to read base data of slave %i.\n",

   499

               slave->ring_position);

   500

        fsm->slave_state = ec_fsm_slave_end;

   501

        return;

   502

    }

   503

   504

    slave->base_type       = EC_READ_U8 (command->data);

   505

    slave->base_revision   = EC_READ_U8 (command->data + 1);

   506

    slave->base_build      = EC_READ_U16(command->data + 2);

   507

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   508

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   509

   510

    if (slave->base_fmmu_count > EC_MAX_FMMUS)