1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

    38

#include "mailbox.h"

    39

#include "slave_config.h"

    40

#ifdef EC_EOE

    41

#include "ethernet.h"

    42

#endif

    43

    44

#include "fsm_master.h"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

/** Time difference [ns] to tolerate without setting a new system time offset.

    50

 */

    51

#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000

    52

    53

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

    54

    55

void ec_fsm_master_state_start(ec_fsm_master_t *);

    56

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    57

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    58

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    59

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    60

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    61

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    62

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    63

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    64

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    65

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    66

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    67

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    68

    69

void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);

    70

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    71

    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_master_init(

    77

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

    78

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

    79

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

    80

        )

    81

{

    82

    ec_device_index_t dev_idx;

    83

    84

    fsm->master = master;

    85

    fsm->datagram = datagram;

    86

    fsm->state = ec_fsm_master_state_start;

    87

    fsm->idle = 0;

    88

    fsm->dev_idx = EC_DEVICE_MAIN;

    89

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES; dev_idx++) {

    90

        fsm->link_state[dev_idx] = 0;

    91

        fsm->slaves_responding[dev_idx] = 0;

    92

        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

    93

    }

    94

    fsm->rescan_required = 0;

    95

    96

    // init sub-state-machines

    97

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

    98

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

    99

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

   100

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

   101

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

   102

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

   103

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

   104

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

   105

}

   106

   107

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

   108

   109

/** Destructor.

   110

 */

   111

void ec_fsm_master_clear(

   112

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

   113

        )

   114

{

   115

    // clear sub-state machines

   116

    ec_fsm_coe_clear(&fsm->fsm_coe);

   117

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   118

    ec_fsm_change_clear(&fsm->fsm_change);

   119

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   120

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   121

    ec_fsm_sii_clear(&fsm->fsm_sii);

   122

}

   123

   124

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

   125

   126

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

   127

 *

   128

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

   129

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

   130

 *

   131

 * \return true, if the state machine was executed

   132

 */

   133

int ec_fsm_master_exec(

   134

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

   135

        )

   136

{

   137

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

   138

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

   139

        // datagram was not sent or received yet.

   140

        return 0;

   141

    }

   142

   143

    fsm->state(fsm);

   144

    return 1;

   145

}

   146

   147

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

   148

   149

/**

   150

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

   151

 */

   152

int ec_fsm_master_idle(

   153

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

   154

        )

   155

{

   156

    return fsm->idle;

   157

}

   158

   159

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

   160

   161

/** Restarts the master state machine.

   162

 */

   163

void ec_fsm_master_restart(

   164

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

   165

        )

   166

{

   167

    fsm->dev_idx = EC_DEVICE_MAIN;

   168

    fsm->state = ec_fsm_master_state_start;

   169

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

   170

}

   171

   172

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

   173

 * Master state machine

   174

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

   175

   176

/** Master state: START.

   177

 *

   178

 * Starts with getting slave count and slave states.

   179

 */

   180

void ec_fsm_master_state_start(

   181

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

   182

        )

   183

{

   184

    fsm->idle = 1;

   185

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

   186

    ec_datagram_zero(fsm->datagram);

   187

    fsm->datagram->device_index = fsm->dev_idx;

   188

    fsm->state = ec_fsm_master_state_broadcast;

   189

}

   190

   191

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

   192

   193

/** Master state: BROADCAST.

   194

 *

   195

 * Processes the broadcast read slave count and slaves states.

   196

 */

   197

void ec_fsm_master_state_broadcast(

   198

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

   199

        )

   200

{

   201

    ec_datagram_t *datagram = fsm->datagram;

   202

    unsigned int i, size;

   203

    ec_slave_t *slave;

   204

    ec_master_t *master = fsm->master;

   205

   206

    // bus topology change?

   207

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

   208

        fsm->rescan_required = 1;

   209

        fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;

   210

        EC_MASTER_INFO(master, "%u slave(s) responding on %s device.\n",

   211

                fsm->slaves_responding[fsm->dev_idx],

   212

                ec_device_names[fsm->dev_idx]);

   213

    }

   214

   215

    if (fsm->link_state[fsm->dev_idx] &&

   216

            !master->devices[fsm->dev_idx].link_state) {

   217

        ec_device_index_t dev_idx;

   218

   219

        EC_MASTER_DBG(master, 1, "Master state machine detected "

   220

                "link down on %s device. Clearing slave list.\n",

   221

                ec_device_names[fsm->dev_idx]);

   222

   223

#ifdef EC_EOE

   224

        ec_master_eoe_stop(master);

   225

        ec_master_clear_eoe_handlers(master);

   226

#endif

   227

        ec_master_clear_slaves(master);

   228

   229

        for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES; dev_idx++) {

   230

            fsm->slave_states[dev_idx] = 0x00;

   231

            fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on

   232

                                                    next link up. */

   233

        }

   234

    }

   235

    fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;

   236

   237

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   238

            fsm->slaves_responding[fsm->dev_idx]) {

   239

        uint8_t states = EC_READ_U8(datagram->data);

   240

        if (states != fsm->slave_states[fsm->dev_idx]) {

   241

            // slave states changed

   242

            char state_str[EC_STATE_STRING_SIZE];

   243

            fsm->slave_states[fsm->dev_idx] = states;

   244

            ec_state_string(states, state_str, 1);

   245

            EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",

   246

                    ec_device_names[fsm->dev_idx], state_str);

   247

        }

   248

    } else {

   249

        fsm->slave_states[fsm->dev_idx] = 0x00;

   250

    }

   251

   252

    fsm->dev_idx++;

   253

    if (fsm->dev_idx < EC_NUM_DEVICES) {

   254

        // check number of responding slaves on next device

   255

        fsm->state = ec_fsm_master_state_start;

   256

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

   257

        return;

   258

    }

   259

   260

    if (fsm->rescan_required) {

   261

        down(&master->scan_sem);

   262

        if (!master->allow_scan) {

   263

            up(&master->scan_sem);

   264

        } else {

   265

            unsigned int count = 0, next_dev_slave, ring_position;

   266

            ec_device_index_t dev_idx;

   267

   268

            master->scan_busy = 1;

   269

            up(&master->scan_sem);

   270

   271

            // clear all slaves and scan the bus

   272

            fsm->rescan_required = 0;

   273

            fsm->idle = 0;

   274

            fsm->scan_jiffies = jiffies;

   275

   276

#ifdef EC_EOE

   277

            ec_master_eoe_stop(master);

   278

            ec_master_clear_eoe_handlers(master);

   279

#endif

   280

            ec_master_clear_slaves(master);

   281

   282

            for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_NUM_DEVICES;

   283

                    dev_idx++) {

   284

                count += fsm->slaves_responding[dev_idx];

   285

            }

   286

   287

            if (!count) {

   288

                // no slaves present -> finish state machine.

   289

                master->scan_busy = 0;

   290

                wake_up_interruptible(&master->scan_queue);

   291

                ec_fsm_master_restart(fsm);

   292

                return;

   293

            }

   294

   295

            size = sizeof(ec_slave_t) * count;

   296

            if (!(master->slaves =

   297

                        (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   298

                EC_MASTER_ERR(master, "Failed to allocate %u bytes"

   299

                        " of slave memory!\n", size);

   300

                master->scan_busy = 0;

   301

                wake_up_interruptible(&master->scan_queue);

   302

                ec_fsm_master_restart(fsm);

   303

                return;

   304

            }

   305

   306

            // init slaves

   307

            dev_idx = EC_DEVICE_MAIN;

   308

            next_dev_slave = fsm->slaves_responding[dev_idx];

   309

            ring_position = 0;

   310

            for (i = 0; i < count; i++, ring_position++) {

   311

                slave = master->slaves + i;

   312

                while (i >= next_dev_slave) {

   313

                    dev_idx++;

   314

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   315

                    ring_position = 0;

   316

                }

   317

   318

                ec_slave_init(slave, master, dev_idx, ring_position, i + 1);

   319

   320

                // do not force reconfiguration in operation phase to avoid

   321

                // unnecesssary process data interruptions

   322

                if (master->phase != EC_OPERATION) {

   323

                    slave->force_config = 1;

   324

                }

   325

            }

   326

            master->slave_count = count;

   327

   328

            /* start with first device with slaves responding; at least one

   329

             * has responding slaves, otherwise count would be zero. */

   330

            fsm->dev_idx = EC_DEVICE_MAIN;

   331

            while (!fsm->slaves_responding[fsm->dev_idx]) {

   332

                fsm->dev_idx++;

   333

            }

   334

   335

            ec_fsm_master_enter_clear_addresses(fsm);

   336

            return;

   337

        }

   338

    }

   339

   340

    if (master->slave_count) {

   341

   342

        // application applied configurations

   343

        if (master->config_changed) {

   344

            master->config_changed = 0;

   345

   346

            EC_MASTER_DBG(master, 1, "Configuration changed.\n");

   347

   348

            fsm->slave = master->slaves; // begin with first slave

   349

            ec_fsm_master_enter_write_system_times(fsm);

   350

   351

        } else {

   352

            // fetch state from first slave

   353

            fsm->slave = master->slaves;

   354

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

   355

                    0x0130, 2);

   356

            ec_datagram_zero(datagram);

   357

            fsm->datagram->device_index = fsm->slave->device_index;

   358

            fsm->retries = EC_FSM_RETRIES;

   359

            fsm->state = ec_fsm_master_state_read_state;

   360

        }

   361

    } else {

   362

        ec_fsm_master_restart(fsm);

   363

    }

   364

}

   365

   366

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

   367

   368

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

   369

 *

   370

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

   371

 */

   372

int ec_fsm_master_action_process_sii(

   373

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

   374

        )

   375

{

   376

    ec_master_t *master = fsm->master;

   377

    ec_sii_write_request_t *request;

   378

   379

    // search the first request to be processed

   380

    while (1) {

   381

        if (list_empty(&master->sii_requests))

   382

            break;

   383

   384

        // get first request

   385

        request = list_entry(master->sii_requests.next,

   386

                ec_sii_write_request_t, list);

   387

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

   388

        request->state = EC_INT_REQUEST_BUSY;

   389

   390

        // found pending SII write operation. execute it!

   391

        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");

   392

        fsm->sii_request = request;

   393

        fsm->sii_index = 0;

   394

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

   395

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   396

        fsm->state = ec_fsm_master_state_write_sii;

   397

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

   398

        return 1;

   399

    }

   400

   401

    return 0;

   402

}

   403

   404

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

   405

   406

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

   407

 *

   408

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

   409

 */

   410

int ec_fsm_master_action_process_sdo(

   411

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

   412

        )

   413

{

   414

    ec_master_t *master = fsm->master;

   415

    ec_slave_t *slave;

   416

    ec_sdo_request_t *req;

   417

   418

    // search for internal requests to be processed

   419

    for (slave = master->slaves;

   420

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

   421

            slave++) {

   422

        if (!slave->config)

   423

            continue;

   424

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

   425

            if (req->state == EC_INT_REQUEST_QUEUED) {

   426

   427

                if (ec_sdo_request_timed_out(req)) {

   428

                    req->state = EC_INT_REQUEST_FAILURE;

   429

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   430

                            " timed out.\n");

   431

                    continue;

   432

                }

   433

   434

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   435

                    req->state = EC_INT_REQUEST_FAILURE;

   436

                    continue;

   437

                }

   438

   439

                req->state = EC_INT_REQUEST_BUSY;

   440

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   441

                        " SDO request...\n");

   442

                fsm->idle = 0;

   443

                fsm->sdo_request = req;

   444

                fsm->slave = slave;

   445

                fsm->state = ec_fsm_master_state_sdo_request;

   446

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

   447

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

   448

                return 1;

   449

            }

   450

        }

   451

    }

   452

    return 0;

   453

}

   454

   455

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

   456

   457

/** Master action: IDLE.

   458

 *

   459

 * Does secondary work.

   460

 */

   461

void ec_fsm_master_action_idle(

   462

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

   463

        )

   464

{

   465

    ec_master_t *master = fsm->master;

   466

    ec_slave_t *slave;

   467

   468

    // Check for pending internal SDO requests

   469

    if (ec_fsm_master_action_process_sdo(fsm)) {

   470

        return;

   471

    }

   472

   473

    // enable processing of requests

   474

    for (slave = master->slaves;

   475

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

   476

            slave++) {

   477

        ec_fsm_slave_ready(&slave->fsm);

   478

    }

   479

   480

    // check, if slaves have an SDO dictionary to read out.

   481

    for (slave = master->slaves;

   482

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

   483

            slave++) {

   484

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

   485

                || (slave->sii.has_general