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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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 *  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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 *

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 *  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

 *

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

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 *  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

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

    39

#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

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#include "fsm_foe.h"

    46

    47

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

    48

    49

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

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 */

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#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000

    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_al_status(ec_fsm_master_t *);

    58

#ifdef EC_LOOP_CONTROL

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void ec_fsm_master_state_read_dl_status(ec_fsm_master_t *);

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void ec_fsm_master_state_open_port(ec_fsm_master_t *);

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#endif

    62

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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#ifdef EC_LOOP_CONTROL

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void ec_fsm_master_state_loop_control(ec_fsm_master_t *);

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#endif

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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

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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_enter_clear_addresses(ec_fsm_master_t *);

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void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

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    79

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

    80

    81

/** Constructor.

    82

 */

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void ec_fsm_master_init(

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

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

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

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        )

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{

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    fsm->master = master;

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    fsm->datagram = datagram;

    91

    92

    ec_fsm_master_reset(fsm);

    93

    94

    // init sub-state-machines

    95

    ec_fsm_coe_init(&fsm->fsm_coe);

    96

    ec_fsm_soe_init(&fsm->fsm_soe);

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

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    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_soe, &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);

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

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}

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

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   108

/** Destructor.

   109

 */

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void ec_fsm_master_clear(

   111

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

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        )

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{

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_soe_clear(&fsm->fsm_soe);

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    ec_fsm_pdo_clear(&fsm->fsm_pdo);

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    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

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    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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

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   126

/** Reset state machine.

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 */

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void ec_fsm_master_reset(

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

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        )

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{

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    ec_device_index_t dev_idx;

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   134

    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->dev_idx = EC_DEVICE_MAIN;

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    for (dev_idx = EC_DEVICE_MAIN;

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            dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {

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        fsm->link_state[dev_idx] = 0;

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        fsm->slaves_responding[dev_idx] = 0;

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        fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;

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    }

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    fsm->rescan_required = 0;

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}

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

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

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 *

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

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

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 *

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 * \return true, if the state machine was executed

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 */

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int ec_fsm_master_exec(

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

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        )

   160

{

   161

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

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

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        // datagram was not sent or received yet.

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        return 0;

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    }

   166

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    fsm->state(fsm);

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    return 1;

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}

   170

   171

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

   172

   173

/**

   174

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

   175

 */

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int ec_fsm_master_idle(

   177

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

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        )

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{

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    return fsm->idle;

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}

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

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/** Restarts the master state machine.

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 */

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void ec_fsm_master_restart(

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

   189

        )

   190

{

   191

    fsm->dev_idx = EC_DEVICE_MAIN;

   192

    fsm->state = ec_fsm_master_state_start;

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

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}

   195

   196

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

   197

 * Master state machine

   198

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

   199

   200

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

   203

 */

   204

void ec_fsm_master_state_start(

   205

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

   206

        )

   207

{

   208

    ec_master_t *master = fsm->master;

   209

   210

    fsm->idle = 1;

   211

   212

    // check for emergency requests

   213

    if (!list_empty(&master->emerg_reg_requests)) {

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        ec_reg_request_t *request;

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        // get first request

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        request = list_entry(master->emerg_reg_requests.next,

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                ec_reg_request_t, list);

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

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        request->state = EC_INT_REQUEST_BUSY;

   221

   222

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

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            EC_MASTER_ERR(master, "Emergency request data too large!\n");

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            request->state = EC_INT_REQUEST_FAILURE;

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            wake_up_all(&master->request_queue);

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            fsm->state(fsm); // continue

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            return;

   228

        }

   229

   230

        if (request->dir != EC_DIR_OUTPUT) {

   231

            EC_MASTER_ERR(master, "Emergency requests must be"

   232

                    " write requests!\n");

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            request->state = EC_INT_REQUEST_FAILURE;

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            wake_up_all(&master->request_queue);

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            fsm->state(fsm); // continue

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            return;

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        }

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        EC_MASTER_DBG(master, 1, "Writing emergency register request...\n");

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        ec_datagram_apwr(fsm->datagram, request->ring_position,

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                request->address, request->transfer_size);

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

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        fsm->datagram->device_index = EC_DEVICE_MAIN;

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        request->state = EC_INT_REQUEST_SUCCESS;

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        wake_up_all(&master->request_queue);

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        return;

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    }

   248

   249

    // check for detached config requests

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    ec_master_expire_slave_config_requests(fsm->master);

   251

   252

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

   253

    ec_datagram_zero(fsm->datagram);

   254

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

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    fsm->state = ec_fsm_master_state_broadcast;

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}

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

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/** Master state: BROADCAST.

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 *

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 * Processes the broadcast read slave count and slaves states.

   263

 */

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void ec_fsm_master_state_broadcast(

   265

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

   266

        )

   267

{

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    ec_datagram_t *datagram = fsm->datagram;

   269

    unsigned int i, size;

   270

    ec_slave_t *slave;

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    ec_master_t *master = fsm->master;

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   273

    // bus topology change?

   274

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

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        fsm->rescan_required = 1;

   276

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

   277

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

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                fsm->slaves_responding[fsm->dev_idx],

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                ec_device_names[fsm->dev_idx != 0]);

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    }

   281

   282

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

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

   284

        ec_device_index_t dev_idx;

   285

   286

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

   287

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

   288

                ec_device_names[fsm->dev_idx != 0]);

   289

   290

#ifdef EC_EOE

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        ec_master_eoe_stop(master);

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        ec_master_clear_eoe_handlers(master);

   293

#endif

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        ec_master_clear_slaves(master);

   295

   296

        for (dev_idx = EC_DEVICE_MAIN;

   297

                dev_idx < ec_master_num_devices(master); dev_idx++) {

   298

            fsm->slave_states[dev_idx] = 0x00;

   299

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

   300

                                                    next link up. */

   301

        }

   302

    }

   303

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

   304

   305

    if (datagram->state == EC_DATAGRAM_RECEIVED &&

   306

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

   307

        uint8_t states = EC_READ_U8(datagram->data);

   308

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

   309

            // slave states changed

   310

            char state_str[EC_STATE_STRING_SIZE];

   311

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

   312

            ec_state_string(states, state_str, 1);

   313

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

   314

                    ec_device_names[fsm->dev_idx != 0], state_str);

   315

        }

   316

    } else {

   317

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

   318

    }

   319

   320

    fsm->dev_idx++;

   321

    if (fsm->dev_idx < ec_master_num_devices(master)) {

   322

        // check number of responding slaves on next device

   323

        fsm->state = ec_fsm_master_state_start;

   324

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

   325

        return;

   326

    }

   327

   328

    if (fsm->rescan_required) {

   329

        down(&master->scan_sem);

   330

        if (!master->allow_scan) {

   331

            up(&master->scan_sem);

   332

        } else {

   333

            unsigned int count = 0, next_dev_slave, ring_position;

   334

            ec_device_index_t dev_idx;

   335

   336

            master->scan_busy = 1;

   337

            up(&master->scan_sem);

   338

   339

            // clear all slaves and scan the bus

   340

            fsm->rescan_required = 0;

   341

            fsm->idle = 0;

   342

            fsm->scan_jiffies = jiffies;

   343

   344

#ifdef EC_EOE

   345

            ec_master_eoe_stop(master);

   346

            ec_master_clear_eoe_handlers(master);

   347

#endif

   348

            ec_master_clear_slaves(master);

   349

   350

            for (dev_idx = EC_DEVICE_MAIN;

   351

                    dev_idx < ec_master_num_devices(master); dev_idx++) {

   352

                count += fsm->slaves_responding[dev_idx];

   353

            }

   354

   355

            if (!count) {

   356

                // no slaves present -> finish state machine.

   357

                master->scan_busy = 0;

   358

                wake_up_interruptible(&master->scan_queue);

   359

                ec_fsm_master_restart(fsm);

   360

                return;

   361

            }

   362

   363

            size = sizeof(ec_slave_t) * count;

   364

            if (!(master->slaves =

   365

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

   366

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

   367

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

   368

                master->scan_busy = 0;

   369

                wake_up_interruptible(&master->scan_queue);

   370

                ec_fsm_master_restart(fsm);

   371

                return;

   372

            }

   373

   374

            // init slaves

   375

            dev_idx = EC_DEVICE_MAIN;

   376

            next_dev_slave = fsm->slaves_responding[dev_idx];

   377

            ring_position = 0;

   378

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

   379

                slave = master->slaves + i;

   380

                while (i >= next_dev_slave) {

   381

                    dev_idx++;

   382

                    next_dev_slave += fsm->slaves_responding[dev_idx];

   383

                    ring_position = 0;

   384

                }

   385

   386

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

   387

   388

                // do not force reconfiguration in operation phase to avoid

   389

                // unnecesssary process data interruptions

   390

                if (master->phase != EC_OPERATION) {

   391

                    slave->force_config = 1;

   392

                }

   393

            }

   394

            master->slave_count = count;

   395

            master->fsm_slave = master->slaves;

   396

   397

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

   398

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

   399

            fsm->dev_idx = EC_DEVICE_MAIN;

   400

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

   401

                fsm->dev_idx++;

   402

            }

   403

   404

            ec_fsm_master_enter_clear_addresses(fsm);

   405

            return;

   406

        }

   407

    }

   408

   409

    if (master->slave_count) {

   410

   411

        // application applied configurations

   412

        if (master->config_changed) {

   413

            master->config_changed = 0;

   414

   415

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

   416

   417

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

   418

            ec_fsm_master_enter_write_system_times(fsm);

   419

   420

        } else {

   421

            // fetch state from first slave

   422

            fsm->slave = master->slaves;

   423

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

   424

                    0x0130, 2);

   425

            ec_datagram_zero(datagram);

   426

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

   427

            fsm->retries = EC_FSM_RETRIES;

   428

            fsm->state = ec_fsm_master_state_read_al_status;

   429

        }

   430

    } else {

   431

        ec_fsm_master_restart(fsm);

   432

    }

   433

}

   434

   435

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

   436

   437

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

   438

 *

   439

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

   440

 */

   441

int ec_fsm_master_action_process_sii(

   442

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

   443

        )

   444

{

   445

    ec_master_t *master = fsm->master;

   446

    ec_sii_write_request_t *request;

   447

   448

    // search the first request to be processed

   449

    while (1) {

   450

        if (list_empty(&master->sii_requests))

   451

            break;

   452

   453

        // get first request

   454

        request = list_entry(master->sii_requests.next,

   455

                ec_sii_write_request_t, list);

   456

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

   457

        request->state = EC_INT_REQUEST_BUSY;

   458

   459

        // found pending SII write operation. execute it!

   460

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

   461

        fsm->sii_request = request;

   462

        fsm->sii_index = 0;

   463

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

   464

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   465

        fsm->state = ec_fsm_master_state_write_sii;

   466

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

   467

        return 1;

   468

    }

   469

   470

    return 0;

   471

}

   472

   473

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

   474

   475

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

   476

 *

   477

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

   478

 */

   479

int ec_fsm_master_action_process_sdo(

   480

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

   481

        )

   482

{

   483

    ec_master_t *master = fsm->master;

   484

    ec_slave_t *slave;

   485

    ec_sdo_request_t *req;

   486