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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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 *

    14

 *  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

    16

 *  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

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 *  Technology, IP and trade marks.

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 *

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

    33

    34

/** \file

    35

 *

    36

 * EtherCAT slave configuration state machine.

    37

 */

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "mailbox.h"

    44

#include "slave_config.h"

    45

#include "fsm_slave_config.h"

    46

    47

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

    48

    49

void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);

    50

void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);

    51

void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);

    52

void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);

    53

void ec_fsm_slave_config_state_preop(ec_fsm_slave_config_t *);

    54

void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);

    55

void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);

    56

void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);

    57

void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);

    58

void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);

    59

void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);

    60

    61

void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);

    62

void ec_fsm_slave_config_enter_preop(ec_fsm_slave_config_t *);

    63

void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);

    64

void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);

    65

void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);

    66

void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);

    67

void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);

    68

    69

void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);

    70

void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_slave_config_init(

    77

        ec_fsm_slave_config_t *fsm, /**< slave state machine */

    78

        ec_datagram_t *datagram, /**< datagram structure to use */

    79

        ec_fsm_change_t *fsm_change, /**< State change state machine to use. */

    80

        ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */

    81

        ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration state machine to use. */

    82

        )

    83

{

    84

    fsm->datagram = datagram;

    85

    fsm->fsm_change = fsm_change;

    86

    fsm->fsm_coe = fsm_coe;

    87

    fsm->fsm_pdo = fsm_pdo;

    88

}

    89

    90

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

    91

    92

/** Destructor.

    93

 */

    94

void ec_fsm_slave_config_clear(

    95

        ec_fsm_slave_config_t *fsm /**< slave state machine */

    96

        )

    97

{

    98

}

    99

   100

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

   101

   102

/** Start slave configuration state machine.

   103

 */

   104

void ec_fsm_slave_config_start(

   105

        ec_fsm_slave_config_t *fsm, /**< slave state machine */

   106

        ec_slave_t *slave /**< slave to configure */

   107

        )

   108

{

   109

    fsm->slave = slave;

   110

    fsm->state = ec_fsm_slave_config_state_start;

   111

}

   112

   113

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

   114

   115

/**

   116

 * \return false, if state machine has terminated

   117

 */

   118

int ec_fsm_slave_config_running(

   119

        const ec_fsm_slave_config_t *fsm /**< slave state machine */

   120

        )

   121

{

   122

    return fsm->state != ec_fsm_slave_config_state_end

   123

        && fsm->state != ec_fsm_slave_config_state_error;

   124

}

   125

   126

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

   127

   128

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

   129

 *

   130

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

   131

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

   132

 *

   133

 * \return false, if state machine has terminated

   134

 */

   135

int ec_fsm_slave_config_exec(

   136

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   137

        )

   138

{

   139

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

   140

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

   141

        // datagram was not sent or received yet.

   142

        return ec_fsm_slave_config_running(fsm);

   143

    }

   144

   145

    fsm->state(fsm);

   146

    return ec_fsm_slave_config_running(fsm);

   147

}

   148

   149

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

   150

   151

/**

   152

 * \return true, if the state machine terminated gracefully

   153

 */

   154

int ec_fsm_slave_config_success(

   155

        const ec_fsm_slave_config_t *fsm /**< slave state machine */

   156

        )

   157

{

   158

    return fsm->state == ec_fsm_slave_config_state_end;

   159

}

   160

   161

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

   162

 * Slave configuration state machine

   163

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

   164

   165

/** Slave configuration state: START.

   166

 */

   167

void ec_fsm_slave_config_state_start(

   168

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   169

        )

   170

{

   171

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

   172

        EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);

   173

    }

   174

   175

    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);

   176

    ec_fsm_change_exec(fsm->fsm_change);

   177

    fsm->state = ec_fsm_slave_config_state_init;

   178

}

   179

   180

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

   181

   182

/** Slave configuration state: INIT.

   183

 */

   184

void ec_fsm_slave_config_state_init(

   185

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   186

        )

   187

{

   188

    ec_master_t *master = fsm->slave->master;

   189

    ec_slave_t *slave = fsm->slave;

   190

    ec_datagram_t *datagram = fsm->datagram;

   191

   192

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   193

   194

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   195

        if (!fsm->fsm_change->spontaneous_change)

   196

            slave->error_flag = 1;

   197

        fsm->state = ec_fsm_slave_config_state_error;

   198

        return;

   199

    }

   200

   201

    if (master->debug_level) {

   202

        EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);

   203

    }

   204

   205

    if (!slave->base_fmmu_count) { // skip FMMU configuration

   206

        ec_fsm_slave_config_enter_mbox_sync(fsm);

   207

        return;

   208

    }

   209

   210

    if (master->debug_level)

   211

        EC_DBG("Clearing FMMU configurations of slave %u...\n",

   212

               slave->ring_position);

   213

   214

    // clear FMMU configurations

   215

    ec_datagram_fpwr(datagram, slave->station_address,

   216

            0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);

   217

    ec_datagram_zero(datagram);

   218

    fsm->retries = EC_FSM_RETRIES;

   219

    fsm->state = ec_fsm_slave_config_state_clear_fmmus;

   220

}

   221

   222

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

   223

   224

/** Slave configuration state: CLEAR FMMU.

   225

 */

   226

void ec_fsm_slave_config_state_clear_fmmus(

   227

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   228

        )

   229

{

   230

    ec_datagram_t *datagram = fsm->datagram;

   231

   232

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

   233

        return;

   234

   235

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   236

        fsm->state = ec_fsm_slave_config_state_error;

   237

        EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",

   238

               fsm->slave->ring_position);

   239

        return;

   240

    }

   241

   242

    if (datagram->working_counter != 1) {

   243

        fsm->slave->error_flag = 1;

   244

        fsm->state = ec_fsm_slave_config_state_error;

   245

        EC_ERR("Failed to clear FMMUs of slave %u: ",

   246

               fsm->slave->ring_position);

   247

        ec_datagram_print_wc_error(datagram);

   248

        return;

   249

    }

   250

   251

    ec_fsm_slave_config_enter_mbox_sync(fsm);

   252

}

   253

   254

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

   255

   256

/** Check for mailbox sync managers to be configured.

   257

 */

   258

void ec_fsm_slave_config_enter_mbox_sync(

   259

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   260

        )

   261

{

   262

    ec_master_t *master = fsm->slave->master;

   263

    ec_slave_t *slave = fsm->slave;

   264

    ec_datagram_t *datagram = fsm->datagram;

   265

    unsigned int i;

   266

   267

    // slave is now in INIT

   268

    if (slave->current_state == slave->requested_state) {

   269

        fsm->state = ec_fsm_slave_config_state_end; // successful

   270

        if (master->debug_level) {

   271

            EC_DBG("Finished configuration of slave %u.\n",

   272

                   slave->ring_position);

   273

        }

   274

        return;

   275

    }

   276

   277

    if (!slave->sii.mailbox_protocols) {

   278

        // no mailbox protocols supported

   279

        if (master->debug_level)

   280

            EC_DBG("Slave %u does not support mailbox communication.\n",

   281

                    slave->ring_position);

   282

        ec_fsm_slave_config_enter_preop(fsm);

   283

        return;

   284

    }

   285

   286

    if (master->debug_level) {

   287

        EC_DBG("Configuring mailbox sync managers of slave %u.\n",

   288

               slave->ring_position);

   289

    }

   290

   291

    if (slave->sii.sync_count >= 2) { // mailbox configuration provided

   292

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   293

                EC_SYNC_PAGE_SIZE * slave->sii.sync_count);

   294

        ec_datagram_zero(datagram);

   295

   296

        for (i = 0; i < 2; i++) {

   297

            ec_sync_page(&slave->sii.syncs[i], i,

   298

                    slave->sii.syncs[i].default_length,

   299

                    EC_DIR_INVALID, // use default direction

   300

                    datagram->data + EC_SYNC_PAGE_SIZE * i);

   301

        }

   302

    } else { // no mailbox sync manager configurations provided

   303

        ec_sync_t sync;

   304

   305

        if (master->debug_level)

   306

            EC_DBG("Slave %u does not provide"

   307

                    " mailbox sync manager configurations.\n",

   308

                    slave->ring_position);

   309

   310

        ec_datagram_fpwr(datagram, slave->station_address, 0x0800,

   311

                EC_SYNC_PAGE_SIZE * 2);

   312

        ec_datagram_zero(datagram);

   313

   314

        ec_sync_init(&sync, slave);

   315

        sync.physical_start_address = slave->sii.rx_mailbox_offset;

   316

        sync.control_register = 0x26;

   317

        sync.enable = 1;

   318

        ec_sync_page(&sync, 0, slave->sii.rx_mailbox_size,

   319

                EC_DIR_INVALID, // use default direction

   320

                datagram->data);

   321

   322

        ec_sync_init(&sync, slave);

   323

        sync.physical_start_address = slave->sii.tx_mailbox_offset;

   324

        sync.control_register = 0x22;

   325

        sync.enable = 1;

   326

        ec_sync_page(&sync, 1, slave->sii.tx_mailbox_size,

   327

                EC_DIR_INVALID, // use default direction

   328

                datagram->data + EC_SYNC_PAGE_SIZE);

   329

    }

   330

   331

    fsm->retries = EC_FSM_RETRIES;

   332

    fsm->state = ec_fsm_slave_config_state_mbox_sync;

   333

}

   334

   335

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

   336

   337

/** Slave configuration state: SYNC.

   338

 */

   339

void ec_fsm_slave_config_state_mbox_sync(

   340

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   341

        )

   342

{

   343

    ec_datagram_t *datagram = fsm->datagram;

   344

    ec_slave_t *slave = fsm->slave;

   345

   346

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

   347

        return;

   348

   349

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   350

        fsm->state = ec_fsm_slave_config_state_error;

   351

        EC_ERR("Failed to receive sync manager configuration datagram for"

   352

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

   353

               slave->ring_position, datagram->state);

   354

        return;

   355

    }

   356

   357

    if (datagram->working_counter != 1) {

   358

        slave->error_flag = 1;

   359

        fsm->state = ec_fsm_slave_config_state_error;

   360

        EC_ERR("Failed to set sync managers of slave %u: ",

   361

               slave->ring_position);

   362

        ec_datagram_print_wc_error(datagram);

   363

        return;

   364

    }

   365

   366

    ec_fsm_slave_config_enter_preop(fsm);

   367

}

   368

   369

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

   370

   371

/** Request PREOP state.

   372

 */

   373

void ec_fsm_slave_config_enter_preop(

   374

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   375

        )

   376

{

   377

    fsm->state = ec_fsm_slave_config_state_preop;

   378

    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);

   379

    ec_fsm_change_exec(fsm->fsm_change); // execute immediately

   380

}

   381

   382

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

   383

   384

/** Slave configuration state: PREOP.

   385

 */

   386

void ec_fsm_slave_config_state_preop(

   387

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   388

        )

   389

{

   390

    ec_slave_t *slave = fsm->slave;

   391

    ec_master_t *master = fsm->slave->master;

   392

   393

    if (ec_fsm_change_exec(fsm->fsm_change)) return;

   394

   395

    if (!ec_fsm_change_success(fsm->fsm_change)) {

   396

        if (!fsm->fsm_change->spontaneous_change)

   397

            slave->error_flag = 1;

   398

        fsm->state = ec_fsm_slave_config_state_error;

   399

        return;

   400

    }

   401

   402

    // slave is now in PREOP

   403

    slave->jiffies_preop = fsm->datagram->jiffies_received;

   404

   405

    if (master->debug_level) {

   406

        EC_DBG("Slave %u is now in PREOP.\n", slave->ring_position);

   407

    }

   408

   409

    if (slave->current_state == slave->requested_state) {

   410

        fsm->state = ec_fsm_slave_config_state_end; // successful

   411

        if (master->debug_level) {

   412

            EC_DBG("Finished configuration of slave %u.\n",

   413

                   slave->ring_position);

   414

        }

   415

        return;

   416

    }

   417

   418

    if (!slave->config) {

   419

        EC_DBG("Slave %u is not configured.\n", slave->ring_position);

   420

        ec_fsm_slave_config_enter_safeop(fsm);

   421

        return;

   422

    }

   423

   424

    ec_fsm_slave_config_enter_sdo_conf(fsm);

   425

}

   426

   427

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

   428

   429

/** Check for Sdo configurations to be applied.

   430

 */

   431

void ec_fsm_slave_config_enter_sdo_conf(

   432

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   433

        )

   434

{

   435

    ec_slave_t *slave = fsm->slave;

   436

   437

    // No CoE configuration to be applied?

   438

    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration

   439

        ec_fsm_slave_config_enter_pdo_conf(fsm);

   440

        return;

   441

    }

   442

   443

    // start Sdo configuration

   444

    fsm->state = ec_fsm_slave_config_state_sdo_conf;

   445

    fsm->request = list_entry(fsm->slave->config->sdo_configs.next,

   446

            ec_sdo_request_t, list);

   447

    ecrt_sdo_request_write(fsm->request);

   448

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

   449

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

   450

}

   451

   452

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

   453

   454

/** Slave configuration state: SDO_CONF.

   455

 */

   456

void ec_fsm_slave_config_state_sdo_conf(

   457

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   458

        )

   459

{

   460

    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   461

   462

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {

   463

        EC_ERR("Sdo configuration failed for slave %u.\n",

   464

                fsm->slave->ring_position);

   465

        fsm->slave->error_flag = 1;

   466

        fsm->state = ec_fsm_slave_config_state_error;

   467

        return;

   468

    }

   469

   470

    // Another Sdo to configure?

   471

    if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {

   472

        fsm->request = list_entry(fsm->request->list.next, ec_sdo_request_t,

   473

                list);

   474

        ecrt_sdo_request_write(fsm->request);

   475

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

   476

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

   477

        return;

   478

    }

   479

   480

    // All Sdos are now configured.

   481

    ec_fsm_slave_config_enter_pdo_conf(fsm);

   482

}

   483

   484

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

   485

   486

/** PDO_CONF entry function.

   487

 */

   488

void ec_fsm_slave_config_enter_pdo_conf(

   489

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   490

        )

   491

{

   492

    // Start configuring Pdos

   493

    ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);

   494

    fsm->state = ec_fsm_slave_config_state_pdo_conf;

   495

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

   496

}

   497

   498

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

   499

   500

/** Slave configuration state: PDO_CONF.

   501

 */

   502

void ec_fsm_slave_config_state_pdo_conf(

   503

        ec_fsm_slave_config_t *fsm /**< slave state machine */

   504

        )

   505

{

   506

    if (ec_fsm_pdo_exec(fsm->fsm_pdo))

   507

        return;

   508

   509

    if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {

   510

        EC_WARN("Pdo configuration failed on slave %u.\n",