1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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

#ifdef EC_HAVE_CYCLES

    52

#define EC_SYSTEM_TIME_TOLERANCE_NS 10000

    53

#else

    54

#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000

    55

#endif

    56

    57

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

    58

    59

void ec_fsm_master_state_start(ec_fsm_master_t *);

    60

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    61

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

    62

void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

    63

void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

    64

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    65

void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

    66

void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

    67

void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

    68

void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

    69

void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

    70

void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

    71

void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

    72

void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

    73

    74

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

    75

    76

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

    77

    78

/** Constructor.

    79

 */

    80

void ec_fsm_master_init(

    81

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

    82

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

    83

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

    84

        )

    85

{

    86

    fsm->master = master;

    87

    fsm->datagram = datagram;

    88

    fsm->state = ec_fsm_master_state_start;

    89

    fsm->idle = 0;

    90

    fsm->link_state = 0;

    91

    fsm->slaves_responding = 0;

    92

    fsm->rescan_required = 0;

    93

    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    94

    95

    // init sub-state-machines

    96

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

    97

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

    98

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

    99

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

   100

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

   101

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

   102

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

   103

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

   104

}

   105

   106

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

   107

   108

/** Destructor.

   109

 */

   110

void ec_fsm_master_clear(

   111

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

   112

        )

   113

{

   114

    // clear sub-state machines

   115

    ec_fsm_coe_clear(&fsm->fsm_coe);

   116

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

   117

    ec_fsm_change_clear(&fsm->fsm_change);

   118

    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

   119

    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

   120

    ec_fsm_sii_clear(&fsm->fsm_sii);

   121

}

   122

   123

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

   124

   125

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

   126

 *

   127

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

   128

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

   129

 *

   130

 * \return true, if the state machine was executed

   131

 */

   132

int ec_fsm_master_exec(

   133

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

   134

        )

   135

{

   136

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

   137

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

   138

        // datagram was not sent or received yet.

   139

        return 0;

   140

    }

   141

   142

    fsm->state(fsm);

   143

    return 1;

   144

}

   145

   146

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

   147

   148

/**

   149

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

   150

 */

   151

int ec_fsm_master_idle(

   152

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

   153

        )

   154

{

   155

    return fsm->idle;

   156

}

   157

   158

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

   159

   160

/** Restarts the master state machine.

   161

 */

   162

void ec_fsm_master_restart(

   163

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

   164

        )

   165

{

   166

    fsm->state = ec_fsm_master_state_start;

   167

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

   168

}

   169

   170

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

   171

 * Master state machine

   172

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

   173

   174

/** Master state: START.

   175

 *

   176

 * Starts with getting slave count and slave states.

   177

 */

   178

void ec_fsm_master_state_start(

   179

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

   180

        )

   181

{

   182

    fsm->idle = 1;

   183

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

   184

    ec_datagram_zero(fsm->datagram);

   185

    fsm->state = ec_fsm_master_state_broadcast;

   186

}

   187

   188

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

   189

   190

/** Master state: BROADCAST.

   191

 *

   192

 * Processes the broadcast read slave count and slaves states.

   193

 */

   194

void ec_fsm_master_state_broadcast(

   195

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

   196

        )

   197

{

   198

    ec_datagram_t *datagram = fsm->datagram;

   199

    unsigned int i, size;

   200

    ec_slave_t *slave;

   201

    ec_master_t *master = fsm->master;

   202

   203

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

   204

        return; // always retry

   205

   206

    // bus topology change?

   207

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

   208

        fsm->rescan_required = 1;

   209

        fsm->slaves_responding = datagram->working_counter;

   210

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

   211

                fsm->slaves_responding);

   212

    }

   213

   214

    if (fsm->link_state && !master->main_device.link_state) { // link went down

   215

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

   216

                "link down. Clearing slave list.\n");

   217

   218

        ec_master_clear_slaves(master);

   219

        fsm->slave_states = 0x00;

   220

    }

   221

    fsm->link_state = master->main_device.link_state;

   222

   223

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   224

        ec_fsm_master_restart(fsm);

   225

        return;

   226

    }

   227

   228

    if (fsm->slaves_responding) {

   229

        uint8_t states = EC_READ_U8(datagram->data);

   230

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

   231

            char state_str[EC_STATE_STRING_SIZE];

   232

            fsm->slave_states = states;

   233

            ec_state_string(fsm->slave_states, state_str, 1);

   234

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

   235

        }

   236

    } else {

   237

        fsm->slave_states = 0x00;

   238

    }

   239

   240

    if (fsm->rescan_required) {

   241

        down(&master->scan_sem);

   242

        if (!master->allow_scan) {

   243

            up(&master->scan_sem);

   244

        } else {

   245

            master->scan_busy = 1;

   246

            up(&master->scan_sem);

   247

   248

            // clear all slaves and scan the bus

   249

            fsm->rescan_required = 0;

   250

            fsm->idle = 0;

   251

            fsm->scan_jiffies = jiffies;

   252

   253

#ifdef EC_EOE

   254

            ec_master_clear_eoe_handlers(master);

   255

#endif

   256

            ec_master_clear_slaves(master);

   257

   258

            master->slave_count = fsm->slaves_responding;

   259

   260

            if (!master->slave_count) {

   261

                // no slaves present -> finish state machine.

   262

                master->scan_busy = 0;

   263

                wake_up_interruptible(&master->scan_queue);

   264

                ec_fsm_master_restart(fsm);

   265

                return;

   266

            }

   267

   268

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

   269

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

   270

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

   271

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

   272

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

   273

                master->scan_busy = 0;

   274

                wake_up_interruptible(&master->scan_queue);

   275

                ec_fsm_master_restart(fsm);

   276

                return;

   277

            }

   278

   279

            // init slaves

   280

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

   281

                slave = master->slaves + i;

   282

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

   283

   284

                // do not force reconfiguration in operation phase to avoid

   285

                // unnecesssary process data interruptions

   286

                if (master->phase != EC_OPERATION)

   287

                    slave->force_config = 1;

   288

            }

   289

   290

            // broadcast clear all station addresses

   291

            ec_datagram_bwr(datagram, 0x0010, 2);

   292

            EC_WRITE_U16(datagram->data, 0x0000);

   293

            fsm->retries = EC_FSM_RETRIES;

   294

            fsm->state = ec_fsm_master_state_clear_addresses;

   295

            return;

   296

        }

   297

    }

   298

   299

    if (master->slave_count) {

   300

   301

        // application applied configurations

   302

        if (master->config_changed) {

   303

            master->config_changed = 0;

   304

   305

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

   306

   307

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

   308

            ec_fsm_master_enter_write_system_times(fsm);

   309

   310

        } else {

   311

            // fetch state from first slave

   312

            fsm->slave = master->slaves;

   313

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

   314

                    0x0130, 2);

   315

            ec_datagram_zero(datagram);

   316

            fsm->retries = EC_FSM_RETRIES;

   317

            fsm->state = ec_fsm_master_state_read_state;

   318

        }

   319

    } else {

   320

        ec_fsm_master_restart(fsm);

   321

    }

   322

}

   323

   324

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

   325

   326

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

   327

 *

   328

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

   329

 */

   330

int ec_fsm_master_action_process_sii(

   331

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

   332

        )

   333

{

   334

    ec_master_t *master = fsm->master;

   335

    ec_sii_write_request_t *request;

   336

   337

    // search the first request to be processed

   338

    while (1) {

   339

        if (list_empty(&master->sii_requests))

   340

            break;

   341

   342

        // get first request

   343

        request = list_entry(master->sii_requests.next,

   344

                ec_sii_write_request_t, list);

   345

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

   346

        request->state = EC_INT_REQUEST_BUSY;

   347

   348

        // found pending SII write operation. execute it!

   349

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

   350

        fsm->sii_request = request;

   351

        fsm->sii_index = 0;

   352

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

   353

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   354

        fsm->state = ec_fsm_master_state_write_sii;

   355

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

   356

        return 1;

   357

    }

   358

   359

    return 0;

   360

}

   361

   362

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

   363

   364

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

   365

 *

   366

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

   367

 */

   368

int ec_fsm_master_action_process_register(

   369

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

   370

        )

   371

{

   372

    ec_master_t *master = fsm->master;

   373

    ec_reg_request_t *request;

   374

   375

    // search the first request to be processed

   376

    while (!list_empty(&master->reg_requests)) {

   377

   378

        // get first request

   379

        request = list_entry(master->reg_requests.next,

   380

                ec_reg_request_t, list);

   381

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

   382

        request->state = EC_INT_REQUEST_BUSY;

   383

   384

        // found pending request; process it!

   385

        EC_SLAVE_DBG(request->slave, 1, "Processing register request, "

   386

                "offset 0x%04x, length %zu...\n",

   387

                request->offset, request->length);

   388

   389

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

   390

            EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum "

   391

                    "datagram size (%zu)!\n", request->length,

   392

                    fsm->datagram->mem_size);

   393

            request->state = EC_INT_REQUEST_FAILURE;

   394

            wake_up(&master->reg_queue);

   395

            continue;

   396

        }

   397

   398

        fsm->reg_request = request;

   399

   400

        if (request->dir == EC_DIR_INPUT) {

   401

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

   402

                    request->offset, request->length);

   403

            ec_datagram_zero(fsm->datagram);

   404

        } else {

   405

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

   406

                    request->offset, request->length);

   407

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

   408

        }

   409

        fsm->retries = EC_FSM_RETRIES;

   410

        fsm->state = ec_fsm_master_state_reg_request;

   411

        return 1;

   412

    }

   413

   414

    return 0;

   415

}

   416

   417

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

   418

   419

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

   420

 *

   421

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

   422

 */

   423

int ec_fsm_master_action_process_sdo(

   424

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

   425

        )

   426

{

   427

    ec_master_t *master = fsm->master;

   428

    ec_slave_t *slave;

   429

    ec_sdo_request_t *req;

   430

   431

    // search for internal requests to be processed

   432

    for (slave = master->slaves;

   433

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

   434

            slave++) {

   435

        if (!slave->config)

   436

            continue;

   437

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

   438

            if (req->state == EC_INT_REQUEST_QUEUED) {

   439

   440

                if (ec_sdo_request_timed_out(req)) {

   441

                    req->state = EC_INT_REQUEST_FAILURE;

   442

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   443

                            " timed out.\n");

   444

                    continue;

   445

                }

   446

   447

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   448

                    req->state = EC_INT_REQUEST_FAILURE;

   449

                    continue;

   450

                }

   451

   452

                req->state = EC_INT_REQUEST_BUSY;

   453

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   454

                        " SDO request...\n");

   455

                fsm->idle = 0;

   456

                fsm->sdo_request = req;

   457

                fsm->slave = slave;

   458

                fsm->state = ec_fsm_master_state_sdo_request;

   459

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

   460

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

   461

                return 1;

   462

            }

   463

        }

   464

    }

   465

    return 0;

   466

}

   467

   468

   469

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

   470

   471

/** Master action: IDLE.

   472

 *

   473

 * Does secondary work.

   474

 */

   475

void ec_fsm_master_action_idle(

   476

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

   477

        )

   478

{

   479

    ec_master_t *master = fsm->master;

   480

    ec_slave_t *slave;

   481

   482

    // Check for pending internal SDO requests

   483

    if (ec_fsm_master_action_process_sdo(fsm))

   484

        return;