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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

    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

    35

 * 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"

    49

    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_phy_request(ec_fsm_master_t *);

    63

    64

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

    65

    66

/** Constructor.

    67

 */

    68

void ec_fsm_master_init(

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

    70

        ec_master_t *master, /**< EtherCAT master. */

    71

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

    72

        )

    73

{

    74

    fsm->master = master;

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    fsm->datagram = datagram;

    76

    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->slaves_responding = 0;

    79

    fsm->topology_change_pending = 0;

    80

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    81

    82

    // init sub-state-machines

    83

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

    84

    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);

    85

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

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

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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);

    88

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

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

    90

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

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}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

void ec_fsm_master_clear(

    98

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

    99

        )

   100

{

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    // clear sub-state machines

   102

    ec_fsm_coe_clear(&fsm->fsm_coe);

   103

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   104

    ec_fsm_change_clear(&fsm->fsm_change);

   105

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   106

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   107

    ec_fsm_sii_clear(&fsm->fsm_sii);

   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

void ec_fsm_master_exec(

   118

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

   119

        )

   120

{

   121

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

   122

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

   123

        // datagram was not sent or received yet.

   124

        return;

   125

    }

   126

   127

    fsm->state(fsm);

   128

}

   129

   130

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

   131

   132

/**

   133

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

   134

 */

   135

int ec_fsm_master_idle(

   136

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

   137

        )

   138

{

   139

    return fsm->idle;

   140

}

   141

   142

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

   143

   144

/** Restarts the master state machine.

   145

 */

   146

void ec_fsm_master_restart(

   147

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

   148

        )

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{

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    fsm->state = ec_fsm_master_state_start;

   151

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

   152

}

   153

   154

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

   155

 * Master state machine

   156

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

   157

   158

/** Master state: START.

   159

 *

   160

 * Starts with getting slave count and slave states.

   161

 */

   162

void ec_fsm_master_state_start(

   163

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

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        )

   165

{

   166

    fsm->idle = 1;

   167

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

   168

    ec_datagram_zero(fsm->datagram);

   169

    fsm->state = ec_fsm_master_state_broadcast;

   170

}

   171

   172

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

   173

   174

/** Master state: BROADCAST.

   175

 *

   176

 * Processes the broadcast read slave count and slaves states.

   177

 */

   178

void ec_fsm_master_state_broadcast(

   179

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

   180

        )

   181

{

   182

    ec_datagram_t *datagram = fsm->datagram;

   183

    unsigned int i, size;

   184

    ec_slave_t *slave;

   185

    ec_master_t *master = fsm->master;

   186

   187

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   189

   190

    // bus topology change?

   191

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

   192

        fsm->topology_change_pending = 1;

   193

        fsm->slaves_responding = datagram->working_counter;

   194

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

   195

    }

   196

   197

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

   198

        ec_fsm_master_restart(fsm);

   199

        return;

   200

    }

   201

   202

    if (fsm->slaves_responding) {

   203

        uint8_t states = EC_READ_U8(datagram->data);

   204

        if (states != fsm->slave_states) { // slave states changed?

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            char state_str[EC_STATE_STRING_SIZE];

   206

            fsm->slave_states = states;

   207

            ec_state_string(fsm->slave_states, state_str);

   208

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

   209

        }

   210

    } else {

   211

        fsm->slave_states = 0x00;

   212

    }

   213

   214

    if (fsm->topology_change_pending) {

   215

        down(&master->scan_sem);

   216

        if (!master->allow_scan) {

   217

            up(&master->scan_sem);

   218

        } else {

   219

            master->scan_busy = 1;

   220

            up(&master->scan_sem);

   221

   222

            // topology change when scan is allowed:

   223

            // clear all slaves and scan the bus

   224

            fsm->topology_change_pending = 0;

   225

            fsm->idle = 0;

   226

            fsm->scan_jiffies = jiffies;

   227

   228

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   230

            ec_master_clear_eoe_handlers(master);

   231

#endif

   232

            ec_master_clear_slaves(master);

   233

   234

            master->slave_count = fsm->slaves_responding;

   235

   236

            if (!master->slave_count) {

   237

                // no slaves present -> finish state machine.

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                master->scan_busy = 0;

   239

                wake_up_interruptible(&master->scan_queue);

   240

                ec_fsm_master_restart(fsm);

   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; // TODO avoid retrying scan!

   249

                master->scan_busy = 0;

   250

                wake_up_interruptible(&master->scan_queue);

   251

                ec_fsm_master_restart(fsm);

   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 phase to avoid

   261

                // unnecesssary process data interruptions

   262

                if (master->phase != EC_OPERATION)

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                    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

        ec_datagram_zero(datagram);

   281

        fsm->retries = EC_FSM_RETRIES;

   282

        fsm->state = ec_fsm_master_state_read_state;

   283

    } else {

   284

        ec_fsm_master_restart(fsm);

   285

    }

   286

}

   287

   288

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

   289

   290

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

   291

 * 

   292

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

   293

 */

   294

int ec_fsm_master_action_process_sii(

   295

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

   296

        )

   297

{

   298

    ec_master_t *master = fsm->master;

   299

    ec_sii_write_request_t *request;

   300

   301

    // search the first request to be processed

   302

    while (1) {

   303

        if (list_empty(&master->sii_requests))

   304

            break;

   305

   306

        // get first request

   307

        request = list_entry(master->sii_requests.next,

   308

                ec_sii_write_request_t, list);

   309

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

   310

        request->state = EC_INT_REQUEST_BUSY;

   311

   312

        // found pending SII write operation. execute it!

   313

        if (master->debug_level)

   314

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

   315

                    request->slave->ring_position);

   316

        fsm->sii_request = request;

   317

        fsm->sii_index = 0;

   318

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

   319

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   320

        fsm->state = ec_fsm_master_state_write_sii;

   321

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

   322

        return 1;

   323

    }

   324

   325

    return 0;

   326

}

   327

   328

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

   329

   330

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

   331

 * 

   332

 * \return non-zero, if a phy request is processed.

   333

 */

   334

int ec_fsm_master_action_process_phy(

   335

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

   336

        )

   337

{

   338

    ec_master_t *master = fsm->master;

   339

    ec_phy_request_t *request;

   340

   341

    // search the first request to be processed

   342

    while (1) {

   343

        if (list_empty(&master->phy_requests))

   344

            break;

   345

   346

        // get first request

   347

        request = list_entry(master->phy_requests.next,

   348

                ec_phy_request_t, list);

   349

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

   350

        request->state = EC_INT_REQUEST_BUSY;

   351

   352

        // found pending request; process it!

   353

        if (master->debug_level)

   354

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

   355

                    request->slave->ring_position);

   356

        fsm->phy_request = request;

   357

   358

        if (request->dir == EC_DIR_INPUT) {

   359

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

   360

                    request->offset, request->length);

   361

            ec_datagram_zero(fsm->datagram);

   362

        } else {

   363

            if (request->length > fsm->datagram->mem_size) {

   364

                EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",

   365

                        request->length, fsm->datagram->mem_size);

   366

                request->state = EC_INT_REQUEST_FAILURE;

   367

                wake_up(&master->phy_queue);

   368

                continue;

   369

            }

   370

            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,

   371

                    request->offset, request->length);

   372

            memcpy(fsm->datagram->data, request->data, request->length);

   373

        }

   374

        fsm->retries = EC_FSM_RETRIES;

   375

        fsm->state = ec_fsm_master_state_phy_request;

   376

        return 1;

   377

    }

   378

   379

    return 0;

   380

}

   381

   382

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

   383

   384

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

   385

 * 

   386

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

   387

 */

   388

int ec_fsm_master_action_process_sdo(

   389

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

   390

        )

   391

{

   392

    ec_master_t *master = fsm->master;

   393

    ec_slave_t *slave;

   394

    ec_sdo_request_t *req;

   395

    ec_master_sdo_request_t *request;

   396

   397

    // search for internal requests to be processed

   398

    for (slave = master->slaves;

   399

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

   400

            slave++) {

   401

        if (!slave->config)

   402

            continue;

   403

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

   404

            if (req->state == EC_INT_REQUEST_QUEUED) {

   405

   406

                if (ec_sdo_request_timed_out(req)) {

   407

                    req->state = EC_INT_REQUEST_FAILURE;

   408

                    if (master->debug_level)

   409

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

   410

                                slave->ring_position);

   411

                    continue;

   412

                }

   413

   414

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   415

                    req->state = EC_INT_REQUEST_FAILURE;

   416

                    continue;

   417

                }

   418

   419

                req->state = EC_INT_REQUEST_BUSY;

   420

                if (master->debug_level)

   421

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

   422

                            slave->ring_position);

   423

   424

                fsm->idle = 0;

   425

                fsm->sdo_request = req;

   426

                fsm->slave = slave;

   427

                fsm->state = ec_fsm_master_state_sdo_request;

   428

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

   429

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

   430

                return 1;

   431

            }

   432

        }

   433

    }

   434

   435

    // search the first external request to be processed

   436

    while (1) {

   437

        if (list_empty(&master->slave_sdo_requests))

   438

            break;

   439

   440

        // get first request

   441

        request = list_entry(master->slave_sdo_requests.next,

   442

                ec_master_sdo_request_t, list);

   443

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

   444

        request->req.state = EC_INT_REQUEST_BUSY;

   445

   446

        slave = request->slave;

   447

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   448

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

   449

                    slave->ring_position);

   450

            request->req.state = EC_INT_REQUEST_FAILURE;

   451

            wake_up(&master->sdo_queue);

   452

            continue;

   453

        }

   454

   455

        // Found pending Sdo request. Execute it!

   456

        if (master->debug_level)

   457

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

   458

                    slave->ring_position);

   459

   460

        // Start uploading Sdo

   461

        fsm->idle = 0;

   462

        fsm->sdo_request = &request->req;

   463

        fsm->slave = slave;

   464

        fsm->state = ec_fsm_master_state_sdo_request;

   465

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

   466

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

   467

        return 1;

   468

    }

   469

   470

    return 0;

   471

}

   472

   473

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

   474

   475

/** Master action: IDLE.

   476

 *

   477

 * Does secondary work.

   478

 */

   479

void ec_fsm_master_action_idle(

   480

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

   481

        )

   482

{

   483

    ec_master_t *master = fsm->master;

   484

    ec_slave_t *slave;

   485

   486

    // Check for pending Sdo requests