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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

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 *  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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 *

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

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 *  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

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 * EtherCAT master state machine.

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 */

    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"

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    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 *);

    59

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;

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    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);

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    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

    fsm->state = ec_fsm_master_state_broadcast;

   169

}

   170

   171

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

   172

   173

/** Master state: BROADCAST.

   174

 *

   175

 * Processes the broadcast read slave count and slaves states.

   176

 */

   177

void ec_fsm_master_state_broadcast(

   178

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

   179

        )

   180

{

   181

    ec_datagram_t *datagram = fsm->datagram;

   182

    unsigned int i, size;

   183

    ec_slave_t *slave;

   184

    ec_master_t *master = fsm->master;

   185

   186

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   188

   189

    // bus topology change?

   190

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

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        fsm->topology_change_pending = 1;

   192

        fsm->slaves_responding = datagram->working_counter;

   193

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

   194

    }

   195

   196

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

   197

        ec_fsm_master_restart(fsm);

   198

        return;

   199

    }

   200

   201

    if (fsm->slaves_responding) {

   202

        uint8_t states = EC_READ_U8(datagram->data);

   203

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

   204

            char state_str[EC_STATE_STRING_SIZE];

   205

            fsm->slave_states = states;

   206

            ec_state_string(fsm->slave_states, state_str);

   207

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

   208

        }

   209

    } else {

   210

        fsm->slave_states = 0x00;

   211

    }

   212

   213

    if (fsm->topology_change_pending) {

   214

        down(&master->scan_sem);

   215

        if (!master->allow_scan) {

   216

            up(&master->scan_sem);

   217

        } else {

   218

            master->scan_busy = 1;

   219

            up(&master->scan_sem);

   220

   221

            // topology change when scan is allowed:

   222

            // clear all slaves and scan the bus

   223

            fsm->topology_change_pending = 0;

   224

            fsm->idle = 0;

   225

            fsm->scan_jiffies = jiffies;

   226

   227

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   229

            ec_master_clear_eoe_handlers(master);

   230

#endif

   231

            ec_master_clear_slaves(master);

   232

   233

            master->slave_count = fsm->slaves_responding;

   234

   235

            if (!master->slave_count) {

   236

                // no slaves present -> finish state machine.

   237

                master->scan_busy = 0;

   238

                wake_up_interruptible(&master->scan_queue);

   239

                ec_fsm_master_restart(fsm);

   240

                return;

   241

            }

   242

   243

            size = sizeof(ec_slave_t) * master->slave_count;

   244

            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   245

                EC_ERR("Failed to allocate %u bytes of slave memory!\n",

   246

                        size);

   247

                master->slave_count = 0; // TODO avoid retrying scan!

   248

                master->scan_busy = 0;

   249

                wake_up_interruptible(&master->scan_queue);

   250

                ec_fsm_master_restart(fsm);

   251

                return;

   252

            }

   253

   254

            // init slaves

   255

            for (i = 0; i < master->slave_count; i++) {

   256

                slave = master->slaves + i;

   257

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

   258

   259

                // do not force reconfiguration in operation phase to avoid

   260

                // unnecesssary process data interruptions

   261

                if (master->phase != EC_OPERATION)

   262

                    slave->force_config = 1;

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            }

   264

   265

            // broadcast clear all station addresses

   266

            ec_datagram_bwr(datagram, 0x0010, 2);

   267

            EC_WRITE_U16(datagram->data, 0x0000);

   268

            fsm->retries = EC_FSM_RETRIES;

   269

            fsm->state = ec_fsm_master_state_clear_addresses;

   270

            return;

   271

        }

   272

    }

   273

   274

    if (master->slave_count) {

   275

        // fetch state from first slave

   276

        fsm->slave = master->slaves;

   277

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

   278

                0x0130, 2);

   279

        fsm->retries = EC_FSM_RETRIES;

   280

        fsm->state = ec_fsm_master_state_read_state;

   281

    } else {

   282

        ec_fsm_master_restart(fsm);

   283

    }

   284

}

   285

   286

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

   287

   288

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

   289

 * 

   290

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

   291

 */

   292

int ec_fsm_master_action_process_sii(

   293

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

   294

        )

   295

{

   296

    ec_master_t *master = fsm->master;

   297

    ec_sii_write_request_t *request;

   298

   299

    // search the first request to be processed

   300

    while (1) {

   301

        if (list_empty(&master->sii_requests))

   302

            break;

   303

   304

        // get first request

   305

        request = list_entry(master->sii_requests.next,

   306

                ec_sii_write_request_t, list);

   307

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

   308

        request->state = EC_INT_REQUEST_BUSY;

   309

   310

        // found pending SII write operation. execute it!

   311

        if (master->debug_level)

   312

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

   313

                    request->slave->ring_position);

   314

        fsm->sii_request = request;

   315

        fsm->sii_index = 0;

   316

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

   317

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   318

        fsm->state = ec_fsm_master_state_write_sii;

   319

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

   320

        return 1;

   321

    }

   322

   323

    return 0;

   324

}

   325

   326

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

   327

   328

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

   329

 * 

   330

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

   331

 */

   332

int ec_fsm_master_action_process_phy(

   333

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

   334

        )

   335

{

   336

    ec_master_t *master = fsm->master;

   337

    ec_phy_request_t *request;

   338

   339

    // search the first request to be processed

   340

    while (1) {

   341

        if (list_empty(&master->phy_requests))

   342

            break;

   343

   344

        // get first request

   345

        request = list_entry(master->phy_requests.next,

   346

                ec_phy_request_t, list);

   347

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

   348

        request->state = EC_INT_REQUEST_BUSY;

   349

   350

        // found pending request; process it!

   351

        if (master->debug_level)

   352

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

   353

                    request->slave->ring_position);

   354

        fsm->phy_request = request;

   355

   356

        if (request->dir == EC_DIR_INPUT) {

   357

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

   358

                    request->offset, request->length);

   359

        } else {

   360

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

   361

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

   362

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

   363

                request->state = EC_INT_REQUEST_FAILURE;

   364

                wake_up(&master->phy_queue);

   365

                continue;

   366

            }

   367

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

   368

                    request->offset, request->length);

   369

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

   370

        }

   371

        fsm->retries = EC_FSM_RETRIES;

   372

        fsm->state = ec_fsm_master_state_phy_request;

   373

        return 1;

   374

    }

   375

   376

    return 0;

   377

}

   378

   379

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

   380

   381

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

   382

 * 

   383

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

   384

 */

   385

int ec_fsm_master_action_process_sdo(

   386

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

   387

        )

   388

{

   389

    ec_master_t *master = fsm->master;

   390

    ec_slave_t *slave;

   391

    ec_sdo_request_t *req;

   392

    ec_master_sdo_request_t *request;

   393

   394

    // search for internal requests to be processed

   395

    for (slave = master->slaves;

   396

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

   397

            slave++) {

   398

        if (!slave->config)

   399

            continue;

   400

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

   401

            if (req->state == EC_INT_REQUEST_QUEUED) {

   402

   403

                if (ec_sdo_request_timed_out(req)) {

   404

                    req->state = EC_INT_REQUEST_FAILURE;

   405

                    if (master->debug_level)

   406

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

   407

                                slave->ring_position);

   408

                    continue;

   409

                }

   410

   411

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   412

                    req->state = EC_INT_REQUEST_FAILURE;

   413

                    continue;

   414

                }

   415

   416

                req->state = EC_INT_REQUEST_BUSY;

   417

                if (master->debug_level)

   418

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

   419

                            slave->ring_position);

   420

   421

                fsm->idle = 0;

   422

                fsm->sdo_request = req;

   423

                fsm->slave = slave;

   424

                fsm->state = ec_fsm_master_state_sdo_request;

   425

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

   426

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

   427

                return 1;

   428

            }

   429

        }

   430

    }

   431

   432

    // search the first external request to be processed

   433

    while (1) {

   434

        if (list_empty(&master->slave_sdo_requests))

   435

            break;

   436

   437

        // get first request

   438

        request = list_entry(master->slave_sdo_requests.next,

   439

                ec_master_sdo_request_t, list);

   440

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

   441

        request->req.state = EC_INT_REQUEST_BUSY;

   442

   443

        slave = request->slave;

   444

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   445

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

   446

                    slave->ring_position);

   447

            request->req.state = EC_INT_REQUEST_FAILURE;

   448

            wake_up(&master->sdo_queue);

   449

            continue;

   450

        }

   451

   452

        // Found pending Sdo request. Execute it!

   453

        if (master->debug_level)

   454

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

   455

                    slave->ring_position);

   456

   457

        // Start uploading Sdo

   458

        fsm->idle = 0;

   459

        fsm->sdo_request = &request->req;

   460

        fsm->slave = slave;

   461

        fsm->state = ec_fsm_master_state_sdo_request;

   462

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

   463

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

   464

        return 1;

   465

    }

   466

   467

    return 0;

   468

}

   469

   470

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

   471

   472

/** Master action: IDLE.

   473

 *

   474

 * Does secondary work.

   475

 */

   476

void ec_fsm_master_action_idle(

   477

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

   478

        )

   479

{

   480

    ec_master_t *master = fsm->master;

   481

    ec_slave_t *slave;

   482

   483

    // Check for pending Sdo requests

   484

    if (ec_fsm_master_action_process_sdo(fsm))

   485

        return;

   486

   487