1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT finite state machines.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

    43

#include "master.h"

    44

#include "mailbox.h"

    45

    46

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

    47

    48

void ec_fsm_master_start(ec_fsm_t *);

    49

void ec_fsm_master_broadcast(ec_fsm_t *);

    50

void ec_fsm_master_read_states(ec_fsm_t *);

    51

void ec_fsm_master_acknowledge(ec_fsm_t *);

    52

void ec_fsm_master_validate_vendor(ec_fsm_t *);

    53

void ec_fsm_master_validate_product(ec_fsm_t *);

    54

void ec_fsm_master_rewrite_addresses(ec_fsm_t *);

    55

void ec_fsm_master_configure_slave(ec_fsm_t *);

    56

void ec_fsm_master_scan_slaves(ec_fsm_t *);

    57

void ec_fsm_master_write_eeprom(ec_fsm_t *);

    58

void ec_fsm_master_sdodict(ec_fsm_t *);

    59

void ec_fsm_master_sdo_request(ec_fsm_t *);

    60

void ec_fsm_master_end(ec_fsm_t *);

    61

void ec_fsm_master_error(ec_fsm_t *);

    62

    63

void ec_fsm_slavescan_start(ec_fsm_t *);

    64

void ec_fsm_slavescan_address(ec_fsm_t *);

    65

void ec_fsm_slavescan_state(ec_fsm_t *);

    66

void ec_fsm_slavescan_base(ec_fsm_t *);

    67

void ec_fsm_slavescan_datalink(ec_fsm_t *);

    68

void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);

    69

void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);

    70

    71

void ec_fsm_slaveconf_start(ec_fsm_t *);

    72

void ec_fsm_slaveconf_init(ec_fsm_t *);

    73

void ec_fsm_slaveconf_sync(ec_fsm_t *);

    74

void ec_fsm_slaveconf_preop(ec_fsm_t *);

    75

void ec_fsm_slaveconf_fmmu(ec_fsm_t *);

    76

void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);

    77

void ec_fsm_slaveconf_saveop(ec_fsm_t *);

    78

void ec_fsm_slaveconf_op(ec_fsm_t *);

    79

    80

void ec_fsm_slave_end(ec_fsm_t *);

    81

void ec_fsm_slave_error(ec_fsm_t *);

    82

    83

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

    84

    85

/**

    86

   Constructor.

    87

*/

    88

    89

int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */

    90

                ec_master_t *master /**< EtherCAT master */

    91

                )

    92

{

    93

    fsm->master = master;

    94

    fsm->master_state = ec_fsm_master_start;

    95

    fsm->master_slaves_responding = 0;

    96

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

    97

    fsm->master_validation = 0;

    98

    99

    ec_datagram_init(&fsm->datagram);

   100

    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {

   101

        EC_ERR("Failed to allocate FSM datagram.\n");

   102

        return -1;

   103

    }

   104

   105

    // init sub-state-machines

   106

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

   107

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

   108

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

   109

   110

    return 0;

   111

}

   112

   113

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

   114

   115

/**

   116

   Destructor.

   117

*/

   118

   119

void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)

   120

{

   121

    // clear sub-state machines

   122

    ec_fsm_sii_clear(&fsm->fsm_sii);

   123

    ec_fsm_change_clear(&fsm->fsm_change);

   124

    ec_fsm_coe_clear(&fsm->fsm_coe);

   125

   126

    ec_datagram_clear(&fsm->datagram);

   127

}

   128

   129

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

   130

   131

/**

   132

   Executes the current state of the state machine.

   133

   \return false, if state machine has terminated

   134

*/

   135

   136

int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)

   137

{

   138

    fsm->master_state(fsm);

   139

   140

    return ec_fsm_running(fsm);

   141

}

   142

   143

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

   144

   145

/**

   146

   \return false, if state machine has terminated

   147

*/

   148

   149

int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)

   150

{

   151

    return fsm->master_state != ec_fsm_master_end

   152

        && fsm->master_state != ec_fsm_master_error;

   153

}

   154

   155

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

   156

   157

/**

   158

   \return true, if the master state machine terminated gracefully

   159

*/

   160

   161

int ec_fsm_success(ec_fsm_t *fsm /**< finite state machine */)

   162

{

   163

    return fsm->master_state == ec_fsm_master_end;

   164

}

   165

   166

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

   167

 *  operation/idle state machine

   168

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

   169

   170

/**

   171

   Master state: START.

   172

   Starts with getting slave count and slave states.

   173

*/

   174

   175

void ec_fsm_master_start(ec_fsm_t *fsm)

   176

{

   177

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

   178

    ec_master_queue_datagram(fsm->master, &fsm->datagram);

   179

    fsm->master_state = ec_fsm_master_broadcast;

   180

}

   181

   182

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

   183

   184

/**

   185

   Master state: BROADCAST.

   186

   Processes the broadcast read slave count and slaves states.

   187

*/

   188

   189

void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)

   190

{

   191

    ec_datagram_t *datagram = &fsm->datagram;

   192

    unsigned int topology_change, states_change, i;

   193

    ec_slave_t *slave;

   194

    ec_master_t *master = fsm->master;

   195

   196

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   197

        if (!master->device->link_state) {

   198

            fsm->master_slaves_responding = 0;

   199

            list_for_each_entry(slave, &master->slaves, list) {

   200

                slave->online = 0;

   201

            }

   202

        }

   203

        else {

   204

            EC_ERR("Failed to receive broadcast datagram.\n");

   205

        }

   206

        fsm->master_state = ec_fsm_master_error;

   207

        return;

   208

    }

   209

   210

    topology_change = (datagram->working_counter !=

   211

                       fsm->master_slaves_responding);

   212

    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);

   213

   214

    fsm->master_slave_states = EC_READ_U8(datagram->data);

   215

    fsm->master_slaves_responding = datagram->working_counter;

   216

   217

    if (topology_change) {

   218

        EC_INFO("%i slave%s responding.\n",

   219

                fsm->master_slaves_responding,

   220

                fsm->master_slaves_responding == 1 ? "" : "s");

   221

   222

        if (master->mode == EC_MASTER_MODE_OPERATION) {

   223

            if (fsm->master_slaves_responding == master->slave_count) {

   224

                fsm->master_validation = 1; // start validation later

   225

            }

   226

            else {

   227

                EC_WARN("Invalid slave count. Bus in tainted state.\n");

   228

            }

   229

        }

   230

    }

   231

   232

    if (states_change) {

   233

        char states[EC_STATE_STRING_SIZE];

   234

        ec_state_string(fsm->master_slave_states, states);

   235

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

   236

    }

   237

   238

    // topology change in idle mode: clear all slaves and scan the bus

   239

    if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {

   240

   241

        ec_master_eoe_stop(master);

   242

        ec_master_destroy_slaves(master);

   243

   244

        master->slave_count = datagram->working_counter;

   245

   246

        if (!master->slave_count) {

   247

            // no slaves present -> finish state machine.

   248

            fsm->master_state = ec_fsm_master_end;

   249

            return;

   250

        }

   251

   252

        // init slaves

   253

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

   254

            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),

   255

                                                 GFP_ATOMIC))) {

   256

                EC_ERR("Failed to allocate slave %i!\n", i);

   257

                ec_master_destroy_slaves(master);

   258

                fsm->master_state = ec_fsm_master_error;

   259

                return;

   260

            }

   261

   262

            if (ec_slave_init(slave, master, i, i + 1)) {

   263

                // freeing of "slave" already done

   264

                ec_master_destroy_slaves(master);

   265

                fsm->master_state = ec_fsm_master_error;

   266

                return;

   267

            }

   268

   269

            if (kobject_add(&slave->kobj)) {

   270

                EC_ERR("Failed to add kobject.\n");

   271

                kobject_put(&slave->kobj); // free

   272

                ec_master_destroy_slaves(master);

   273

                fsm->master_state = ec_fsm_master_error;

   274

                return;

   275

            }

   276

   277

            list_add_tail(&slave->list, &master->slaves);

   278

        }

   279

   280

        EC_INFO("Scanning bus.\n");

   281

   282

        // begin scanning of slaves

   283

        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   284

        fsm->slave_state = ec_fsm_slavescan_start;

   285

        fsm->master_state = ec_fsm_master_scan_slaves;

   286

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

   287

        return;

   288

    }

   289

   290

    // fetch state from each slave

   291

    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   292

    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);

   293

    ec_master_queue_datagram(master, &fsm->datagram);

   294

    fsm->master_state = ec_fsm_master_read_states;

   295

}

   296

   297

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

   298

   299

/**

   300

   Master action: PROC_STATES.

   301

   Processes the slave states.

   302

*/

   303

   304

void ec_fsm_master_action_process_states(ec_fsm_t *fsm

   305

                                         /**< finite state machine */

   306

                                         )

   307

{

   308

    ec_master_t *master = fsm->master;

   309

    ec_slave_t *slave;

   310

    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];

   311

   312

    // check if any slaves are not in the state, they're supposed to be

   313

    list_for_each_entry(slave, &master->slaves, list) {

   314

        if (slave->error_flag

   315

            || !slave->online

   316

            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN

   317

            || (slave->current_state == slave->requested_state

   318

                && slave->configured)) continue;

   319

   320

        if (master->debug_level) {

   321

            ec_state_string(slave->current_state, old_state);

   322

            if (slave->current_state != slave->requested_state) {

   323

                ec_state_string(slave->requested_state, new_state);

   324

                EC_DBG("Changing state of slave %i (%s -> %s).\n",

   325

                       slave->ring_position, old_state, new_state);

   326

            }

   327

            else if (!slave->configured) {

   328

                EC_DBG("Reconfiguring slave %i (%s).\n",

   329

                       slave->ring_position, old_state);

   330

            }

   331

        }

   332

   333

        fsm->master_state = ec_fsm_master_configure_slave;

   334

        fsm->slave = slave;

   335

        fsm->slave_state = ec_fsm_slaveconf_start;

   336

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

   337

        return;

   338

    }

   339

   340

    // Check, if EoE processing has to be started

   341

    ec_master_eoe_start(master);

   342

   343

    if (master->mode == EC_MASTER_MODE_IDLE) {

   344

   345

        // Check for a pending SDO request

   346

        if (master->sdo_seq_master != master->sdo_seq_user) {

   347

            if (master->debug_level)

   348

                EC_DBG("Processing SDO request...\n");

   349

            slave = master->sdo_request->sdo->slave;

   350

            if (slave->current_state == EC_SLAVE_STATE_INIT

   351

                || !slave->online

   352

                || slave->error_flag) {

   353

                EC_ERR("Failed to process SDO request, slave %i not ready.\n",

   354

                       slave->ring_position);

   355

                master->sdo_request->return_code = -1;

   356

                master->sdo_seq_master++;

   357

            }

   358

            else {

   359

                // start uploading SDO

   360

                fsm->slave = slave;

   361

                fsm->master_state = ec_fsm_master_sdo_request;

   362

                fsm->sdo_request = master->sdo_request;

   363

                ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);

   364

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

   365

                return;

   366

            }

   367

        }

   368

   369

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

   370

        list_for_each_entry(slave, &master->slaves, list) {

   371

            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)

   372

                || slave->sdo_dictionary_fetched

   373

                || slave->current_state == EC_SLAVE_STATE_INIT

   374

                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ

   375

                || !slave->online

   376

                || slave->error_flag) continue;

   377

   378

            if (master->debug_level) {

   379

                EC_DBG("Fetching SDO dictionary from slave %i.\n",

   380

                       slave->ring_position);

   381

            }

   382

   383

            if (kobject_add(&slave->sdo_kobj)) {

   384

                EC_ERR("Failed to add SDO kobj of slave %i.\n",

   385

                       slave->ring_position);

   386

                slave->error_flag = 1;

   387

                fsm->master_state = ec_fsm_master_error;

   388

                return;

   389

            }

   390

   391

            slave->sdo_dictionary_fetched = 1;

   392

   393

            // start fetching SDO dictionary

   394

            fsm->slave = slave;

   395

            fsm->master_state = ec_fsm_master_sdodict;

   396

            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);

   397

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

   398

            return;

   399

        }

   400

   401

        // check for pending EEPROM write operations.

   402

        list_for_each_entry(slave, &master->slaves, list) {

   403

            if (!slave->new_eeprom_data) continue;

   404

   405

            if (!slave->online || slave->error_flag) {

   406

                kfree(slave->new_eeprom_data);

   407

                slave->new_eeprom_data = NULL;

   408

                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",

   409

                       slave->ring_position);

   410

                continue;

   411

            }

   412

   413

            // found pending EEPROM write operation. execute it!

   414

            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);

   415

            fsm->sii_offset = 0x0000;

   416

            ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,

   417

                             slave->new_eeprom_data, EC_FSM_SII_NODE);

   418

            fsm->master_state = ec_fsm_master_write_eeprom;

   419

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

   420

            return;

   421

        }

   422

    }

   423

   424

    fsm->master_state = ec_fsm_master_end;

   425

}

   426

   427

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

   428

   429

/**

   430

   Master action: Get state of next slave.

   431

*/

   432

   433

void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm

   434

                                           /**< finite state machine */)

   435

{

   436

    ec_master_t *master = fsm->master;

   437

    ec_slave_t *slave = fsm->slave;

   438

   439

    // is there another slave to query?

   440

    if (slave->list.next != &master->slaves) {

   441

        // process next slave

   442

        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);

   443

        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,

   444

                         0x0130, 2);

   445

        ec_master_queue_datagram(master, &fsm->datagram);

   446

        fsm->master_state = ec_fsm_master_read_states;

   447

        return;

   448

    }

   449

   450

    // all slave states read

   451

   452

    // check, if a bus validation has to be done

   453

    if (fsm->master_validation) {

   454

        fsm->master_validation = 0;

   455

        list_for_each_entry(slave, &master->slaves, list) {

   456

            if (slave->online) continue;

   457

   458

            // At least one slave is offline. validate!

   459

            EC_INFO("Validating bus.\n");

   460

            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   461

            fsm->master_state = ec_fsm_master_validate_vendor;

   462

            ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);

   463

            ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately

   464

            return;

   465

        }

   466

    }

   467

   468

    ec_fsm_master_action_process_states(fsm);

   469

}

   470

   471

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

   472

   473

/**

   474

   Master state: READ STATES.

   475

   Fetches the AL- and online state of a slave.

   476

*/

   477

   478

void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)

   479

{

   480

    ec_slave_t *slave = fsm->slave;

   481

    ec_datagram_t *datagram = &fsm->datagram;

   482

    uint8_t new_state;

   483

   484

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   485

        EC_ERR("Failed to receive AL state datagram for slave %i!\n",

   486

               slave->ring_position);

   487

        fsm->master_state = ec_fsm_master_error;

   488

        return;

   489

    }

   490

   491

    // did the slave not respond to its station address?