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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 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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 *

    18

 *  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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 *

    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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT CoE state machines.

    33

*/

    34

    35

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

    36

    37

#include "globals.h"

    38

#include "master.h"

    39

#include "mailbox.h"

    40

#include "fsm_coe.h"

    41

    42

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

    43

    44

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

    45

 */

    46

#define EC_FSM_COE_DICT_TIMEOUT 3000

    47

    48

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

    49

    50

void ec_fsm_coe_dict_start(ec_fsm_coe_t *);

    51

void ec_fsm_coe_dict_request(ec_fsm_coe_t *);

    52

void ec_fsm_coe_dict_check(ec_fsm_coe_t *);

    53

void ec_fsm_coe_dict_response(ec_fsm_coe_t *);

    54

void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);

    55

void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);

    56

void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);

    57

void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);

    58

void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);

    59

void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);

    60

    61

void ec_fsm_coe_down_start(ec_fsm_coe_t *);

    62

void ec_fsm_coe_down_request(ec_fsm_coe_t *);

    63

void ec_fsm_coe_down_check(ec_fsm_coe_t *);

    64

void ec_fsm_coe_down_response(ec_fsm_coe_t *);

    65

    66

void ec_fsm_coe_up_start(ec_fsm_coe_t *);

    67

void ec_fsm_coe_up_request(ec_fsm_coe_t *);

    68

void ec_fsm_coe_up_check(ec_fsm_coe_t *);

    69

void ec_fsm_coe_up_response(ec_fsm_coe_t *);

    70

void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);

    71

void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);

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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);

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    74

void ec_fsm_coe_end(ec_fsm_coe_t *);

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void ec_fsm_coe_error(ec_fsm_coe_t *);

    76

    77

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

    78

    79

/**

    80

   SDO abort messages.

    81

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

    82

   which can be translated to clear text. This table does

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   the mapping of the codes and messages.

    84

*/

    85

    86

const ec_code_msg_t sdo_abort_messages[] = {

    87

    {0x05030000, "Toggle bit not changed"},

    88

    {0x05040000, "SDO protocol timeout"},

    89

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

    90

    {0x05040005, "Out of memory"},

    91

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

    92

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

    93

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

    94

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

    95

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

    96

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

    97

     " exceed the PDO length"},

    98

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

    99

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

   100

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

   101

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

   102

     " not match"},

   103

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

   104

     " high"},

   105

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

   106

     " low"},

   107

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

   108

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

   109

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

   110

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

   111

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

   112

    {0x08000000, "General error"},

   113

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

   114

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

   115

     " because of local control"},

   116

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

   117

     " because of the present device state"},

   118

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

   119

     " dictionary is present"},

   120

    {}

   121

};

   122

   123

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

   124

   125

/**

   126

   Outputs an SDO abort message.

   127

*/

   128

   129

void ec_canopen_abort_msg(uint32_t abort_code)

   130

{

   131

    const ec_code_msg_t *abort_msg;

   132

   133

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

   134

        if (abort_msg->code == abort_code) {

   135

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

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                   abort_msg->code, abort_msg->message);

   137

            return;

   138

        }

   139

    }

   140

   141

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

   142

}

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   144

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

   145

   146

/**

   147

   Constructor.

   148

*/

   149

   150

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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   158

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

   159

   160

/**

   161

   Destructor.

   162

*/

   163

   164

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

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{

   166

}

   167

   168

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

   169

   170

/**

   171

   Starts reading a slaves' SDO dictionary.

   172

*/

   173

   174

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

   175

                           ec_slave_t *slave /**< EtherCAT slave */

   176

                           )

   177

{

   178

    fsm->slave = slave;

   179

    fsm->state = ec_fsm_coe_dict_start;

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}

   181

   182

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

   183

   184

/**

   185

   Starts to transfer an SDO to/from a slave.

   186

*/

   187

   188

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. */

   192

        )

   193

{

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    fsm->slave = slave;

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    fsm->request = request;

   196

    if (request->dir == EC_DIR_OUTPUT)

   197

        fsm->state = ec_fsm_coe_down_start;

   198

    else

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        fsm->state = ec_fsm_coe_up_start;

   200

}

   201

   202

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

   203

   204

/**

   205

   Executes the current state of the state machine.

   206

   \return false, if state machine has terminated

   207

*/

   208

   209

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

   210

{

   211

    fsm->state(fsm);

   212

   213

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

   214

}

   215

   216

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

   217

   218

/**

   219

   Returns, if the state machine terminated with success.

   220

   \return non-zero if successful.

   221

*/

   222

   223

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

   224

{

   225

    return fsm->state == ec_fsm_coe_end;

   226

}

   227

   228

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

   229

   230

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

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 *

   232

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

   233

 *

   234

 * \return The data were an emergency request.

   235

 */

   236

int ec_fsm_coe_check_emergency(

   237

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

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

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

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        )

   241

{

   242

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

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        return 0;

   244

   245

    if (size < 10) {

   246

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

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                fsm->slave->ring_position);

   248

        ec_print_data(data, size);

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        return 1;

   250

    }

   251

   252

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

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            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));

   256

    ec_print_data(data + 5, 5);

   257

    return 1;

   258

}

   259

   260

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

   261

 *  CoE dictionary state machine

   262

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

   263

   264

/**

   265

   CoE state: DICT START.

   266

*/

   267

   268

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

   269

{

   270

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   272

    uint8_t *data;

   273

   274

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

   275

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

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        fsm->state = ec_fsm_coe_error;

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        return;

   278

    }

   279

   280

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

   281

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

   282

                slave->ring_position);

   283

        fsm->state = ec_fsm_coe_error;

   284

        return;

   285

    }

   286

   287

    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);

   288

    if (IS_ERR(data)) {

   289

        fsm->state = ec_fsm_coe_error;

   290

        return;

   291

    }

   292

   293

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

   294

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

   295

    EC_WRITE_U8 (data + 3, 0x00);

   296

    EC_WRITE_U16(data + 4, 0x0000);

   297

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

   298

   299

    fsm->retries = EC_FSM_RETRIES;

   300

    fsm->state = ec_fsm_coe_dict_request;

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}

   302

   303

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

   304

   305

/**

   306

   CoE state: DICT REQUEST.

   307

   \todo Timeout behavior

   308

*/

   309

   310

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

   311

{

   312

    ec_datagram_t *datagram = fsm->datagram;

   313

    ec_slave_t *slave = fsm->slave;

   314

   315

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

   316

        return; // FIXME: request again?

   317

   318

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   319

        fsm->state = ec_fsm_coe_error;

   320

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

   321

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

   322

               slave->ring_position, datagram->state);

   323

        return;

   324

    }

   325

   326

    if (datagram->working_counter != 1) {

   327

        fsm->state = ec_fsm_coe_error;

   328

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

   329

                slave->ring_position);

   330

        ec_datagram_print_wc_error(datagram);

   331

        return;

   332

    }

   333

   334

    fsm->jiffies_start = datagram->jiffies_sent;

   335

   336

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

   337

    fsm->retries = EC_FSM_RETRIES;

   338

    fsm->state = ec_fsm_coe_dict_check;

   339

}

   340

   341

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

   342

   343

/**

   344

   CoE state: DICT CHECK.

   345

*/

   346

   347

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

   348

{

   349

    ec_datagram_t *datagram = fsm->datagram;

   350

    ec_slave_t *slave = fsm->slave;

   351

   352

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

   353

        return;

   354

   355

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   356

        fsm->state = ec_fsm_coe_error;

   357

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

   358

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

   359

               slave->ring_position, datagram->state);

   360

        return;

   361

    }

   362

   363

    if (datagram->working_counter != 1) {

   364

        fsm->state = ec_fsm_coe_error;

   365

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

   366

               slave->ring_position);

   367

        ec_datagram_print_wc_error(datagram);

   368

        return;

   369

    }

   370

   371

    if (!ec_slave_mbox_check(datagram)) {

   372

        unsigned long diff_ms =

   373

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

   374

        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {

   375

            fsm->state = ec_fsm_coe_error;

   376

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

   377

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

   378

            return;

   379

        }

   380

   381

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

   382

        fsm->retries = EC_FSM_RETRIES;

   383

        return;

   384

    }

   385

   386

    // Fetch response

   387

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

   388

    fsm->retries = EC_FSM_RETRIES;

   389

    fsm->state = ec_fsm_coe_dict_response;

   390

}

   391

   392

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

   393

   394

/**

   395

   CoE state: DICT RESPONSE.

   396

   \todo Timeout behavior

   397

*/

   398

   399

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

   400

{

   401

    ec_datagram_t *datagram = fsm->datagram;

   402

    ec_slave_t *slave = fsm->slave;

   403

    uint8_t *data, mbox_prot;

   404

    size_t rec_size;

   405

    unsigned int sdo_count, i;

   406

    uint16_t sdo_index, fragments_left;

   407

    ec_sdo_t *sdo;

   408

   409

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

   410

        return; // FIXME: request again?

   411

   412

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   413

        fsm->state = ec_fsm_coe_error;

   414

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

   415

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

   416

               slave->ring_position, datagram->state);

   417

        return;

   418

    }

   419

   420

    if (datagram->working_counter != 1) {

   421

        fsm->state = ec_fsm_coe_error;

   422

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

   423

                slave->ring_position);

   424

        ec_datagram_print_wc_error(datagram);

   425

        return;

   426

    }

   427

   428

    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);

   429

    if (IS_ERR(data)) {

   430

        fsm->state = ec_fsm_coe_error;

   431

        return;

   432

    }

   433

   434

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

   435

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

   436

        fsm->state = ec_fsm_coe_error;

   437

        return;

   438

    }

   439

   440

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

   441

        // check for CoE response again

   442

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

   443

        fsm->retries = EC_FSM_RETRIES;

   444

        fsm->state = ec_fsm_coe_dict_check;

   445

        return;

   446

    }

   447

   448

    if (rec_size < 3) {

   449

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

   450

                rec_size);

   451

        fsm->state = ec_fsm_coe_error;

   452

        return;

   453

    }

   454

   455

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

   456

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

   457

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

   458

               slave->ring_position);

   459

        if (rec_size < 10) {

   460

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

   461

            ec_print_data(data, rec_size);

   462

        } else {

   463

            ec_canopen_abort_msg(EC_READ_U32(data + 6));

   464

        }

   465

        fsm->state = ec_fsm_coe_error;

   466

        return;

   467

    }

   468

   469

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

   470

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

   471

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

   472

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

   473

                    slave->ring_position);

   474

            ec_print_data(data, rec_size);

   475

        }

   476

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

   477

        fsm->retries = EC_FSM_RETRIES;

   478

        fsm->state = ec_fsm_coe_dict_check;

   479

        return;

   480

    }

   481

   482

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

   483

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

   484

        ec_print_data(data, rec_size);

   485

        fsm->state = ec_fsm_coe_error;

   486

        return;

   487

    }

   488

   489

    sdo_count = (rec_size - 8) / 2;

   490

   491

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

   492

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

   493

        if (!sdo_index) {

   494

            if (slave->master->debug_level)

   495

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

   496

                        slave->ring_position);

   497

            continue;

   498

        }

   499

   500

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

   501

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

   502

            fsm->state = ec_fsm_coe_error;

   503

            return;

   504

        }

   505

   506

        ec_sdo_init(sdo, slave, sdo_index);

   507

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