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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  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.

     8

 *

     9

 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT CoE state machines.

    30

*/

    31

    32

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

    33

    34

#include "globals.h"

    35

#include "master.h"

    36

#include "mailbox.h"

    37

#include "fsm_coe.h"

    38

    39

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

    40

    41

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

    42

 */

    43

#define EC_FSM_COE_DICT_TIMEOUT 3000

    44

    45

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

    46

    47

void ec_fsm_coe_dict_start(ec_fsm_coe_t *);

    48

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 *);

    51

void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);

    52

void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);

    53

void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);

    54

void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);

    55

void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);

    56

void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);

    57

    58

void ec_fsm_coe_down_start(ec_fsm_coe_t *);

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void ec_fsm_coe_down_request(ec_fsm_coe_t *);

    60

void ec_fsm_coe_down_check(ec_fsm_coe_t *);

    61

void ec_fsm_coe_down_response(ec_fsm_coe_t *);

    62

    63

void ec_fsm_coe_up_start(ec_fsm_coe_t *);

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void ec_fsm_coe_up_request(ec_fsm_coe_t *);

    65

void ec_fsm_coe_up_check(ec_fsm_coe_t *);

    66

void ec_fsm_coe_up_response(ec_fsm_coe_t *);

    67

void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);

    68

void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);

    69

void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);

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    71

void ec_fsm_coe_end(ec_fsm_coe_t *);

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void ec_fsm_coe_error(ec_fsm_coe_t *);

    73

    74

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

    75

    76

/**

    77

   SDO abort messages.

    78

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

    79

   which can be translated to clear text. This table does

    80

   the mapping of the codes and messages.

    81

*/

    82

    83

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"},

    86

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

    87

    {0x05040005, "Out of memory"},

    88

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

    89

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

    90

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

    91

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

    92

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

    93

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

    94

     " exceed the PDO length"},

    95

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

    96

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

    97

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

    98

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

    99

     " not match"},

   100

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

   101

     " high"},

   102

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

   103

     " low"},

   104

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

   105

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

   106

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

   107

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

   108

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

   109

    {0x08000000, "General error"},

   110

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

   111

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

   112

     " because of local control"},

   113

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

   114

     " because of the present device state"},

   115

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

   116

     " dictionary is present"},

   117

    {}

   118

};

   119

   120

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

   121

   122

/**

   123

   Outputs an SDO abort message.

   124

*/

   125

   126

void ec_canopen_abort_msg(uint32_t abort_code)

   127

{

   128

    const ec_code_msg_t *abort_msg;

   129

   130

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

   131

        if (abort_msg->code == abort_code) {

   132

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

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                   abort_msg->code, abort_msg->message);

   134

            return;

   135

        }

   136

    }

   137

   138

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

   139

}

   140

   141

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

   142

   143

/**

   144

   Constructor.

   145

*/

   146

   147

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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   157

/**

   158

   Destructor.

   159

*/

   160

   161

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

   162

{

   163

}

   164

   165

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

   166

   167

/**

   168

   Starts reading a slaves' SDO dictionary.

   169

*/

   170

   171

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

   172

                           ec_slave_t *slave /**< EtherCAT slave */

   173

                           )

   174

{

   175

    fsm->slave = slave;

   176

    fsm->state = ec_fsm_coe_dict_start;

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}

   178

   179

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

   180

   181

/**

   182

   Starts to transfer an SDO to/from a slave.

   183

*/

   184

   185

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. */

   189

        )

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{

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    fsm->slave = slave;

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    fsm->request = request;

   193

    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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}

   198

   199

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

   200

   201

/**

   202

   Executes the current state of the state machine.

   203

   \return false, if state machine has terminated

   204

*/

   205

   206

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

   207

{

   208

    fsm->state(fsm);

   209

   210

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

   211

}

   212

   213

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

   214

   215

/**

   216

   Returns, if the state machine terminated with success.

   217

   \return non-zero if successful.

   218

*/

   219

   220

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

   221

{

   222

    return fsm->state == ec_fsm_coe_end;

   223

}

   224

   225

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

   226

   227

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

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 *

   229

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

   230

 *

   231

 * \return The data were an emergency request.

   232

 */

   233

int ec_fsm_coe_check_emergency(

   234

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

   235

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

   236

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

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        )

   238

{

   239

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

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        return 0;

   241

   242

    if (size < 10) {

   243

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

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                fsm->slave->ring_position);

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        ec_print_data(data, size);

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        return 1;

   247

    }

   248

   249

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

   250

            fsm->slave->ring_position);

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

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

   253

    ec_print_data(data + 5, 5);

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    return 1;

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}

   256

   257

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

   258

 *  CoE dictionary state machine

   259

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

   260

   261

/**

   262

   CoE state: DICT START.

   263

*/

   264

   265

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

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{

   267

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

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    uint8_t *data;

   270

   271

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

   272

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

   273

        fsm->state = ec_fsm_coe_error;

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        return;

   275

    }

   276

   277

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

   278

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

   279

                slave->ring_position);

   280

        fsm->state = ec_fsm_coe_error;

   281

        return;

   282

    }

   283

   284

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

   285

        fsm->state = ec_fsm_coe_error;

   286

        return;

   287

    }

   288

   289

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

   290

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

   291

    EC_WRITE_U8 (data + 3, 0x00);

   292

    EC_WRITE_U16(data + 4, 0x0000);

   293

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

   294

   295

    fsm->retries = EC_FSM_RETRIES;

   296

    fsm->state = ec_fsm_coe_dict_request;

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}

   298

   299

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

   300

   301

/**

   302

   CoE state: DICT REQUEST.

   303

   \todo Timeout behavior

   304

*/

   305

   306

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

   307

{

   308

    ec_datagram_t *datagram = fsm->datagram;

   309

    ec_slave_t *slave = fsm->slave;

   310

   311

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

   312

        return; // FIXME: request again?

   313

   314

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   315

        fsm->state = ec_fsm_coe_error;

   316

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

   317

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

   318

               slave->ring_position, datagram->state);

   319

        return;

   320

    }

   321

   322

    if (datagram->working_counter != 1) {

   323

        fsm->state = ec_fsm_coe_error;

   324

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

   325

                slave->ring_position);

   326

        ec_datagram_print_wc_error(datagram);

   327

        return;

   328

    }

   329

   330

    fsm->jiffies_start = datagram->jiffies_sent;

   331

   332

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

   333

    fsm->retries = EC_FSM_RETRIES;

   334

    fsm->state = ec_fsm_coe_dict_check;

   335

}

   336

   337

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

   338

   339

/**

   340

   CoE state: DICT CHECK.

   341

*/

   342

   343

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

   344

{

   345

    ec_datagram_t *datagram = fsm->datagram;

   346

    ec_slave_t *slave = fsm->slave;

   347

   348

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

   349

        return;

   350

   351

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   352

        fsm->state = ec_fsm_coe_error;

   353

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

   354

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

   355

               slave->ring_position, datagram->state);

   356

        return;

   357

    }

   358

   359

    if (datagram->working_counter != 1) {

   360

        fsm->state = ec_fsm_coe_error;

   361

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

   362

               slave->ring_position);

   363

        ec_datagram_print_wc_error(datagram);

   364

        return;

   365

    }

   366

   367

    if (!ec_slave_mbox_check(datagram)) {

   368

        unsigned long diff_ms =

   369

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

   370

        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {

   371

            fsm->state = ec_fsm_coe_error;

   372

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

   373

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

   374

            return;

   375

        }

   376

   377

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

   378

        fsm->retries = EC_FSM_RETRIES;

   379

        return;

   380

    }

   381

   382

    // Fetch response

   383

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

   384

    fsm->retries = EC_FSM_RETRIES;

   385

    fsm->state = ec_fsm_coe_dict_response;

   386

}

   387

   388

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

   389

   390

/**

   391

   CoE state: DICT RESPONSE.

   392

   \todo Timeout behavior

   393

*/

   394

   395

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

   396

{

   397

    ec_datagram_t *datagram = fsm->datagram;

   398

    ec_slave_t *slave = fsm->slave;

   399

    uint8_t *data, mbox_prot;

   400

    size_t rec_size;

   401

    unsigned int sdo_count, i;

   402

    uint16_t sdo_index, fragments_left;

   403

    ec_sdo_t *sdo;

   404

   405

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

   406

        return; // FIXME: request again?

   407

   408

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   409

        fsm->state = ec_fsm_coe_error;

   410

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

   411

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

   412

               slave->ring_position, datagram->state);

   413

        return;

   414

    }

   415

   416

    if (datagram->working_counter != 1) {

   417

        fsm->state = ec_fsm_coe_error;

   418

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

   419

                slave->ring_position);

   420

        ec_datagram_print_wc_error(datagram);

   421

        return;

   422

    }

   423

   424

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

   425

				     &mbox_prot, &rec_size))) {

   426

        fsm->state = ec_fsm_coe_error;

   427

        return;

   428

    }

   429

   430

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

   431

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

   432

        fsm->state = ec_fsm_coe_error;

   433

        return;

   434

    }

   435

   436

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

   437

        // check for CoE response again

   438

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

   439

        fsm->retries = EC_FSM_RETRIES;

   440

        fsm->state = ec_fsm_coe_dict_check;

   441

        return;

   442

    }

   443

   444

    if (rec_size < 3) {

   445

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

   446

                rec_size);

   447

        fsm->state = ec_fsm_coe_error;

   448

        return;

   449

    }

   450

   451

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

   452

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

   453

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

   454

               slave->ring_position);

   455

        if (rec_size < 10) {

   456

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

   457

            ec_print_data(data, rec_size);

   458

        } else {

   459

            ec_canopen_abort_msg(EC_READ_U32(data + 6));

   460

        }

   461

        fsm->state = ec_fsm_coe_error;

   462

        return;

   463

    }

   464

   465

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

   466

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

   467

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

   468

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

   469

                    slave->ring_position);

   470

            ec_print_data(data, rec_size);

   471

        }

   472

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

   473

        fsm->retries = EC_FSM_RETRIES;

   474

        fsm->state = ec_fsm_coe_dict_check;

   475

        return;

   476

    }

   477

   478

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

   479

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

   480

        ec_print_data(data, rec_size);

   481

        fsm->state = ec_fsm_coe_error;

   482

        return;

   483

    }

   484

   485

    sdo_count = (rec_size - 8) / 2;

   486

   487

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

   488

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

   489

        if (!sdo_index) {

   490

            if (slave->master->debug_level)

   491

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

   492

                        slave->ring_position);

   493

            continue;

   494

        }

   495

   496

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

   497

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

   498

            fsm->state = ec_fsm_coe_error;

   499

            return;

   500

        }

   501

   502

        ec_sdo_init(sdo, slave, sdo_index);

   503

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

   504

    }

   505

   506

    fragments_left = EC_READ_U16(data + 4);

   507

    if (slave->master->debug_level && fragments_left) {