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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  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

    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.

    18

 *

    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

    21

 *  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

    24

 *  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

    28

 *  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

    30

 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT CoE state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "mailbox.h"

    44

#include "fsm_coe.h"

    45

    46

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

    47

    48

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

    49

 */

    50

#define EC_FSM_COE_DICT_TIMEOUT 3000

    51

    52

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

    53

    54

void ec_fsm_coe_dict_start(ec_fsm_coe_t *);

    55

void ec_fsm_coe_dict_request(ec_fsm_coe_t *);

    56

void ec_fsm_coe_dict_check(ec_fsm_coe_t *);

    57

void ec_fsm_coe_dict_response(ec_fsm_coe_t *);

    58

void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);

    59

void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);

    60

void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);

    61

void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);

    62

void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);

    63

void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);

    64

    65

void ec_fsm_coe_down_start(ec_fsm_coe_t *);

    66

void ec_fsm_coe_down_request(ec_fsm_coe_t *);

    67

void ec_fsm_coe_down_check(ec_fsm_coe_t *);

    68

void ec_fsm_coe_down_response(ec_fsm_coe_t *);

    69

    70

void ec_fsm_coe_up_start(ec_fsm_coe_t *);

    71

void ec_fsm_coe_up_request(ec_fsm_coe_t *);

    72

void ec_fsm_coe_up_check(ec_fsm_coe_t *);

    73

void ec_fsm_coe_up_response(ec_fsm_coe_t *);

    74

void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);

    75

void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);

    76

void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);

    77

    78

void ec_fsm_coe_end(ec_fsm_coe_t *);

    79

void ec_fsm_coe_error(ec_fsm_coe_t *);

    80

    81

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

    82

    83

/**

    84

   Sdo abort messages.

    85

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

    86

   which can be translated to clear text. This table does

    87

   the mapping of the codes and messages.

    88

*/

    89

    90

const ec_code_msg_t sdo_abort_messages[] = {

    91

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

    92

    {0x05040000, "Sdo protocol timeout"},

    93

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

    94

    {0x05040005, "Out of memory"},

    95

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

    96

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

    97

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

    98

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

    99

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

   100

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

   101

     " exceed the Pdo length"},

   102

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

   103

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

   104

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

   105

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

   106

     " not match"},

   107

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

   108

     " high"},

   109

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

   110

     " low"},

   111

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

   112

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

   113

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

   114

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

   115

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

   116

    {0x08000000, "General error"},

   117

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

   118

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

   119

     " because of local control"},

   120

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

   121

     " because of the present device state"},

   122

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

   123

     " dictionary is present"},

   124

    {}

   125

};

   126

   127

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

   128

   129

/**

   130

   Outputs an Sdo abort message.

   131

*/

   132

   133

void ec_canopen_abort_msg(uint32_t abort_code)

   134

{

   135

    const ec_code_msg_t *abort_msg;

   136

   137

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

   138

        if (abort_msg->code == abort_code) {

   139

            EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",

   140

                   abort_msg->code, abort_msg->message);

   141

            return;

   142

        }

   143

    }

   144

   145

    EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);

   146

}

   147

   148

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

   149

   150

/**

   151

   Constructor.

   152

*/

   153

   154

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

   155

                     ec_datagram_t *datagram /**< datagram */

   156

                     )

   157

{

   158

    fsm->state = NULL;

   159

    fsm->datagram = datagram;

   160

}

   161

   162

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

   163

   164

/**

   165

   Destructor.

   166

*/

   167

   168

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

   169

{

   170

}

   171

   172

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

   173

   174

/**

   175

   Starts reading a slaves' Sdo dictionary.

   176

*/

   177

   178

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

   179

                           ec_slave_t *slave /**< EtherCAT slave */

   180

                           )

   181

{

   182

    fsm->slave = slave;

   183

    fsm->state = ec_fsm_coe_dict_start;

   184

}

   185

   186

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

   187

   188

/**

   189

   Starts to transfer an Sdo to/from a slave.

   190

*/

   191

   192

void ec_fsm_coe_transfer(

   193

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

   194

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

   195

        ec_sdo_request_t *request /**< Sdo request. */

   196

        )

   197

{

   198

    fsm->slave = slave;

   199

    fsm->request = request;

   200

    if (request->dir == EC_DIR_OUTPUT)

   201

        fsm->state = ec_fsm_coe_down_start;

   202

    else

   203

        fsm->state = ec_fsm_coe_up_start;

   204

}

   205

   206

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

   207

   208

/**

   209

   Executes the current state of the state machine.

   210

   \return false, if state machine has terminated

   211

*/

   212

   213

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

   214

{

   215

    fsm->state(fsm);

   216

   217

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

   218

}

   219

   220

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

   221

   222

/**

   223

   Returns, if the state machine terminated with success.

   224

   \return non-zero if successful.

   225

*/

   226

   227

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

   228

{

   229

    return fsm->state == ec_fsm_coe_end;

   230

}

   231

   232

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

   233

   234

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

   235

 *

   236

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

   237

 *

   238

 * \return The data were an emergency request.

   239

 */

   240

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. */

   244

        )

   245

{

   246

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

   247

        return 0;

   248

   249

    if (size < 10) {

   250

        EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",

   251

                fsm->slave->ring_position);

   252

        ec_print_data(data, size);

   253

        return 1;

   254

    }

   255

   256

    EC_INFO("CoE Emergency Request received from slave %u:\n",

   257

            fsm->slave->ring_position);

   258

    EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",

   259

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

   260

    ec_print_data(data + 5, 5);

   261

    return 1;

   262

}

   263

   264

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

   265

 *  CoE dictionary state machine

   266

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

   267

   268

/**

   269

   CoE state: DICT START.

   270

*/

   271

   272

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

   273

{

   274

    ec_datagram_t *datagram = fsm->datagram;

   275

    ec_slave_t *slave = fsm->slave;

   276

    uint8_t *data;

   277

   278

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

   279

        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);

   280

        fsm->state = ec_fsm_coe_error;

   281

        return;

   282

    }

   283

   284

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

   285

        EC_ERR("Slave %u does not support Sdo information service!\n",

   286

                slave->ring_position);

   287

        fsm->state = ec_fsm_coe_error;

   288

        return;

   289

    }

   290

   291

    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {

   292

        fsm->state = ec_fsm_coe_error;

   293

        return;

   294

    }

   295

   296

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

   297

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

   298

    EC_WRITE_U8 (data + 3, 0x00);

   299

    EC_WRITE_U16(data + 4, 0x0000);

   300

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

   301

   302

    fsm->retries = EC_FSM_RETRIES;

   303

    fsm->state = ec_fsm_coe_dict_request;

   304

}

   305

   306

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

   307

   308

/**

   309

   CoE state: DICT REQUEST.

   310

   \todo Timeout behavior

   311

*/

   312

   313

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

   314

{

   315

    ec_datagram_t *datagram = fsm->datagram;

   316

    ec_slave_t *slave = fsm->slave;

   317

   318

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

   319

        return; // FIXME: request again?

   320

   321

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   322

        fsm->state = ec_fsm_coe_error;

   323

        EC_ERR("Failed to receive CoE dictionary request datagram for"

   324

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

   325

               slave->ring_position, datagram->state);

   326

        return;

   327

    }

   328

   329

    if (datagram->working_counter != 1) {

   330

        fsm->state = ec_fsm_coe_error;

   331

        EC_ERR("Reception of CoE dictionary request failed on slave %u: ",

   332

                slave->ring_position);

   333

        ec_datagram_print_wc_error(datagram);

   334

        return;

   335

    }

   336

   337

    fsm->jiffies_start = datagram->jiffies_sent;

   338

   339

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

   340

    fsm->retries = EC_FSM_RETRIES;

   341

    fsm->state = ec_fsm_coe_dict_check;

   342

}

   343

   344

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

   345

   346

/**

   347

   CoE state: DICT CHECK.

   348

*/

   349

   350

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

   351

{

   352

    ec_datagram_t *datagram = fsm->datagram;

   353

    ec_slave_t *slave = fsm->slave;

   354

   355

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

   356

        return;

   357

   358

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   359

        fsm->state = ec_fsm_coe_error;

   360

        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"

   361

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

   362

               slave->ring_position, datagram->state);

   363

        return;

   364

    }

   365

   366

    if (datagram->working_counter != 1) {

   367

        fsm->state = ec_fsm_coe_error;

   368

        EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",

   369

               slave->ring_position);

   370

        ec_datagram_print_wc_error(datagram);

   371

        return;

   372

    }

   373

   374

    if (!ec_slave_mbox_check(datagram)) {

   375

        unsigned long diff_ms =

   376

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

   377

        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {

   378

            fsm->state = ec_fsm_coe_error;

   379

            EC_ERR("Timeout while waiting for Sdo dictionary list response "

   380

                    "on slave %u.\n", slave->ring_position);

   381

            return;

   382

        }

   383

   384

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

   385

        fsm->retries = EC_FSM_RETRIES;

   386

        return;

   387

    }

   388

   389

    // Fetch response

   390

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

   391

    fsm->retries = EC_FSM_RETRIES;

   392

    fsm->state = ec_fsm_coe_dict_response;

   393

}

   394

   395

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

   396

   397

/**

   398

   CoE state: DICT RESPONSE.

   399

   \todo Timeout behavior

   400

*/

   401

   402

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

   403

{

   404

    ec_datagram_t *datagram = fsm->datagram;

   405

    ec_slave_t *slave = fsm->slave;

   406

    uint8_t *data, mbox_prot;

   407

    size_t rec_size;

   408

    unsigned int sdo_count, i;

   409

    uint16_t sdo_index, fragments_left;

   410

    ec_sdo_t *sdo;

   411

   412

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

   413

        return; // FIXME: request again?

   414

   415

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   416

        fsm->state = ec_fsm_coe_error;

   417

        EC_ERR("Failed to receive CoE dictionary response datagram for"

   418

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

   419

               slave->ring_position, datagram->state);

   420

        return;

   421

    }

   422

   423

    if (datagram->working_counter != 1) {

   424

        fsm->state = ec_fsm_coe_error;

   425

        EC_ERR("Reception of CoE dictionary response failed on slave %u: ",

   426

                slave->ring_position);

   427

        ec_datagram_print_wc_error(datagram);

   428

        return;

   429

    }

   430

   431

    if (!(data = ec_slave_mbox_fetch(slave, datagram,

   432

				     &mbox_prot, &rec_size))) {

   433

        fsm->state = ec_fsm_coe_error;

   434

        return;

   435

    }

   436

   437

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

   438

        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);

   439

        fsm->state = ec_fsm_coe_error;

   440

        return;

   441

    }

   442

   443

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

   444

        // check for CoE response again

   445

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

   446

        fsm->retries = EC_FSM_RETRIES;

   447

        fsm->state = ec_fsm_coe_dict_check;

   448

        return;

   449

    }

   450

   451

    if (rec_size < 3) {

   452

        EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",

   453

                rec_size);

   454

        fsm->state = ec_fsm_coe_error;

   455

        return;

   456

    }

   457

   458

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

   459

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

   460

        EC_ERR("Sdo information error response at slave %u!\n",

   461

               slave->ring_position);

   462

        if (rec_size < 10) {

   463

            EC_ERR("Incomplete Sdo information error response:\n");

   464

            ec_print_data(data, rec_size);

   465

        } else {

   466

            ec_canopen_abort_msg(EC_READ_U32(data + 6));

   467

        }

   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) != 0x02) { // Get OD List response

   474

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

   475

            EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",

   476

                    slave->ring_position);

   477

            ec_print_data(data, rec_size);

   478

        }

   479

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

   480

        fsm->retries = EC_FSM_RETRIES;

   481

        fsm->state = ec_fsm_coe_dict_check;

   482

        return;

   483

    }

   484

   485

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

   486

        EC_ERR("Invalid data size %u!\n", rec_size);

   487

        ec_print_data(data, rec_size);

   488

        fsm->state = ec_fsm_coe_error;

   489

        return;

   490

    }

   491

   492

    sdo_count = (rec_size - 8) / 2;

   493

   494

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

   495

        sdo_index = EC_READ_U16(data + 8 + i * 2);

   496

        if (!sdo_index) {

   497

            if (slave->master->debug_level)

   498

                EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",

   499

                        slave->ring_position);

   500

            continue;

   501

        }

   502

   503

        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {

   504

            EC_ERR("Failed to allocate memory for Sdo!\n");

   505

            fsm->state = ec_fsm_coe_error;

   506

            return;

   507

        }

   508

   509

        ec_sdo_init(sdo, slave, sdo_index);

   510

        list_add_tail(&sdo->list, &slave->sdo_dictionary);