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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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

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

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

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

    19

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

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

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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    34

/**

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   \file

    36

   EtherCAT finite state machines.

    37

*/

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    39

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

    40

    41

#include "globals.h"

    42

#include "fsm.h"

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#include "master.h"

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#include "mailbox.h"

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    46

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

    47

    48

void ec_fsm_master_start(ec_fsm_t *);

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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 *);

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void ec_fsm_master_rewrite_addresses(ec_fsm_t *);

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void ec_fsm_master_configure_slave(ec_fsm_t *);

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void ec_fsm_master_scan_slaves(ec_fsm_t *);

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void ec_fsm_master_write_eeprom(ec_fsm_t *);

    58

void ec_fsm_master_sdodict(ec_fsm_t *);

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void ec_fsm_master_sdo_request(ec_fsm_t *);

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void ec_fsm_master_end(ec_fsm_t *);

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void ec_fsm_master_error(ec_fsm_t *);

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    63

void ec_fsm_slavescan_start(ec_fsm_t *);

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void ec_fsm_slavescan_address(ec_fsm_t *);

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void ec_fsm_slavescan_state(ec_fsm_t *);

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void ec_fsm_slavescan_base(ec_fsm_t *);

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void ec_fsm_slavescan_datalink(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);

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void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);

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    71

void ec_fsm_slaveconf_state_start(ec_fsm_t *);

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void ec_fsm_slaveconf_state_init(ec_fsm_t *);

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void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);

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void ec_fsm_slaveconf_state_sync(ec_fsm_t *);

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void ec_fsm_slaveconf_state_preop(ec_fsm_t *);

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void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);

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void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);

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void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);

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void ec_fsm_slaveconf_state_op(ec_fsm_t *);

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    81

void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);

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void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);

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    86

void ec_fsm_slave_state_end(ec_fsm_t *);

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void ec_fsm_slave_state_error(ec_fsm_t *);

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

    90

    91

/**

    92

   Constructor.

    93

*/

    94

    95

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

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                ec_master_t *master /**< EtherCAT master */

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                )

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{

    99

    fsm->master = master;

   100

    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

   102

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   103

    fsm->master_validation = 0;

   104

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    ec_datagram_init(&fsm->datagram);

   106

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

   107

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

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        return -1;

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    }

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    // init sub-state-machines

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

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

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

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   116

    return 0;

   117

}

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   119

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

   120

   121

/**

   122

   Destructor.

   123

*/

   124

   125

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

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{

   127

    // clear sub-state machines

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    ec_fsm_sii_clear(&fsm->fsm_sii);

   129

    ec_fsm_change_clear(&fsm->fsm_change);

   130

    ec_fsm_coe_clear(&fsm->fsm_coe);

   131

   132

    ec_datagram_clear(&fsm->datagram);

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}

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   135

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

   136

   137

/**

   138

   Executes the current state of the state machine.

   139

   \return false, if state machine has terminated

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*/

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   142

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

   143

{

   144

    fsm->master_state(fsm);

   145

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    return ec_fsm_running(fsm);

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}

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

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   151

/**

   152

   \return false, if state machine has terminated

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*/

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   155

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

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{

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    return fsm->master_state != ec_fsm_master_end

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        && fsm->master_state != ec_fsm_master_error;

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}

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   161

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

   162

   163

/**

   164

   \return true, if the master state machine terminated gracefully

   165

*/

   166

   167

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

   168

{

   169

    return fsm->master_state == ec_fsm_master_end;

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}

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   172

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

   173

 *  operation/idle state machine

   174

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

   175

   176

/**

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   Master state: START.

   178

   Starts with getting slave count and slave states.

   179

*/

   180

   181

void ec_fsm_master_start(ec_fsm_t *fsm)

   182

{

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

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

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    fsm->master_state = ec_fsm_master_broadcast;

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}

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   188

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

   189

   190

/**

   191

   Master state: BROADCAST.

   192

   Processes the broadcast read slave count and slaves states.

   193

*/

   194

   195

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

   196

{

   197

    ec_datagram_t *datagram = &fsm->datagram;

   198

    unsigned int topology_change, states_change, i;

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    ec_slave_t *slave;

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    ec_master_t *master = fsm->master;

   201

   202

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   203

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

   204

            fsm->master_slaves_responding = 0;

   205

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

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                slave->online = 0;

   207

            }

   208

        }

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        else {

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

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        }

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        fsm->master_state = ec_fsm_master_error;

   213

        return;

   214

    }

   215

   216

    topology_change = (datagram->working_counter !=

   217

                       fsm->master_slaves_responding);

   218

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

   219

   220

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

   221

    fsm->master_slaves_responding = datagram->working_counter;

   222

   223

    if (topology_change) {

   224

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

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                fsm->master_slaves_responding,

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

   227

   228

        if (master->mode == EC_MASTER_MODE_OPERATION) {

   229

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

   230

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

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            }

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            else {

   233

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

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            }

   235

        }

   236

    }

   237

   238

    if (states_change) {

   239

        char states[EC_STATE_STRING_SIZE];

   240

        ec_state_string(fsm->master_slave_states, states);

   241

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

   242

    }

   243

   244

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

   245

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

   246

   247

        ec_master_eoe_stop(master);

   248

        ec_master_destroy_slaves(master);

   249

   250

        master->slave_count = datagram->working_counter;

   251

   252

        if (!master->slave_count) {

   253

            // no slaves present -> finish state machine.

   254

            fsm->master_state = ec_fsm_master_end;

   255

            return;

   256

        }

   257

   258

        // init slaves

   259

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

   260

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

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                                                 GFP_ATOMIC))) {

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

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                ec_master_destroy_slaves(master);

   264

                fsm->master_state = ec_fsm_master_error;

   265

                return;

   266

            }

   267

   268

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

   269

                // freeing of "slave" already done

   270

                ec_master_destroy_slaves(master);

   271

                fsm->master_state = ec_fsm_master_error;

   272

                return;

   273

            }

   274

   275

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

   276

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

   277

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

   278

                ec_master_destroy_slaves(master);

   279

                fsm->master_state = ec_fsm_master_error;

   280

                return;

   281

            }

   282

   283

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

   284

        }

   285

   286

        EC_INFO("Scanning bus.\n");

   287

   288

        // begin scanning of slaves

   289

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

   290

        fsm->slave_state = ec_fsm_slavescan_start;

   291

        fsm->master_state = ec_fsm_master_scan_slaves;

   292

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

   293

        return;

   294

    }

   295

   296

    // fetch state from each slave

   297

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

   298

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

   299

    ec_master_queue_datagram(master, &fsm->datagram);

   300

    fsm->master_state = ec_fsm_master_read_states;

   301

}

   302

   303

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

   304

   305

/**

   306

   Master action: PROC_STATES.

   307

   Processes the slave states.

   308

*/

   309

   310

void ec_fsm_master_action_process_states(ec_fsm_t *fsm

   311

                                         /**< finite state machine */

   312

                                         )

   313

{

   314

    ec_master_t *master = fsm->master;

   315

    ec_slave_t *slave;

   316

    char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];

   317

   318

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

   319

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

   320

        if (slave->error_flag

   321

            || !slave->online

   322

            || slave->requested_state == EC_SLAVE_STATE_UNKNOWN

   323

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

   324

                && slave->configured)) continue;

   325

   326

        if (master->debug_level) {

   327

            ec_state_string(slave->current_state, old_state);

   328

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

   329

                ec_state_string(slave->requested_state, new_state);

   330

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

   331

                       slave->ring_position, old_state, new_state);

   332

            }

   333

            else if (!slave->configured) {

   334

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

   335

                       slave->ring_position, old_state);

   336

            }

   337

        }

   338

   339

        fsm->master_state = ec_fsm_master_configure_slave;

   340

        fsm->slave = slave;

   341

        fsm->slave_state = ec_fsm_slaveconf_state_start;

   342

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

   343

        return;

   344

    }

   345

   346

    // Check, if EoE processing has to be started

   347

    ec_master_eoe_start(master);

   348

   349

    if (master->mode == EC_MASTER_MODE_IDLE) {

   350

   351

        // Check for a pending SDO request

   352

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

   353

            if (master->debug_level)

   354

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

   355

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

   356

            if (slave->current_state == EC_SLAVE_STATE_INIT

   357

                || !slave->online) {

   358

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

   359

                       slave->ring_position);

   360

                master->sdo_request->return_code = -1;

   361

                master->sdo_seq_master++;

   362

            }

   363

            else {

   364

                // start uploading SDO

   365

                fsm->slave = slave;

   366

                fsm->master_state = ec_fsm_master_sdo_request;

   367

                fsm->sdo_request = master->sdo_request;

   368

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

   369

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

   370

                return;

   371

            }

   372

        }

   373

   374

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

   375

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

   376

            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)

   377

                || slave->sdo_dictionary_fetched

   378

                || slave->current_state == EC_SLAVE_STATE_INIT

   379

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

   380

                || !slave->online

   381

                || slave->error_flag) continue;

   382

   383

            if (master->debug_level) {

   384

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

   385

                       slave->ring_position);

   386

            }

   387

   388

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

   389

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

   390

                       slave->ring_position);

   391

                slave->error_flag = 1;

   392

                fsm->master_state = ec_fsm_master_error;

   393

                return;

   394

            }

   395

   396

            slave->sdo_dictionary_fetched = 1;

   397

   398

            // start fetching SDO dictionary

   399

            fsm->slave = slave;

   400

            fsm->master_state = ec_fsm_master_sdodict;

   401

            ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);

   402

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

   403

            return;

   404

        }

   405

   406

        // check for pending EEPROM write operations.

   407

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

   408

            if (!slave->new_eeprom_data) continue;

   409

   410

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

   411

                kfree(slave->new_eeprom_data);

   412

                slave->new_eeprom_data = NULL;

   413

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

   414

                       slave->ring_position);

   415

                continue;

   416

            }

   417

   418

            // found pending EEPROM write operation. execute it!

   419

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

   420

            fsm->slave = slave;

   421

            fsm->sii_offset = 0x0000;

   422

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

   423

                             slave->new_eeprom_data, EC_FSM_SII_NODE);

   424

            fsm->master_state = ec_fsm_master_write_eeprom;

   425

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

   426

            return;

   427

        }

   428

    }

   429

   430

    fsm->master_state = ec_fsm_master_end;

   431

}

   432

   433

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

   434

   435

/**

   436

   Master action: Get state of next slave.

   437

*/

   438

   439

void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm

   440

                                           /**< finite state machine */)

   441

{

   442

    ec_master_t *master = fsm->master;

   443

    ec_slave_t *slave = fsm->slave;

   444

   445

    // is there another slave to query?

   446

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

   447

        // process next slave

   448

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

   449

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

   450

                         0x0130, 2);

   451

        ec_master_queue_datagram(master, &fsm->datagram);

   452

        fsm->master_state = ec_fsm_master_read_states;

   453

        return;

   454

    }

   455

   456

    // all slave states read

   457

   458

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

   459

    if (fsm->master_validation) {

   460

        fsm->master_validation = 0;

   461

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

   462

            if (slave->online) continue;

   463

   464

            // At least one slave is offline. validate!

   465

            EC_INFO("Validating bus.\n");

   466

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

   467

            fsm->master_state = ec_fsm_master_validate_vendor;

   468

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

   469

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

   470

            return;

   471

        }

   472

    }

   473

   474

    ec_fsm_master_action_process_states(fsm);

   475

}

   476

   477

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

   478

   479

/**

   480

   Master state: READ STATES.

   481

   Fetches the AL- and online state of a slave.

   482

*/

   483

   484

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

   485

{

   486

    ec_slave_t *slave = fsm->slave;

   487

    ec_datagram_t *datagram = &fsm->datagram;

   488

    uint8_t new_state;

   489

   490

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   491

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