/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
*
* EtherCAT slave configuration state machine.
*/
/*****************************************************************************/
#include <asm/div64.h>
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_slave_config.h"
/*****************************************************************************/
void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_read_offset(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_write_offset(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_slave_config_init(
ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_datagram_t *datagram, /**< datagram structure to use */
ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
)
{
ec_sdo_request_init(&fsm->request_copy);
fsm->datagram = datagram;
fsm->fsm_change = fsm_change;
fsm->fsm_coe = fsm_coe;
fsm->fsm_pdo = fsm_pdo;
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_slave_config_clear(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_sdo_request_clear(&fsm->request_copy);
}
/*****************************************************************************/
/** Start slave configuration state machine.
*/
void ec_fsm_slave_config_start(
ec_fsm_slave_config_t *fsm, /**< slave state machine */
ec_slave_t *slave /**< slave to configure */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_slave_config_state_start;
}
/*****************************************************************************/
/**
* \return false, if state machine has terminated
*/
int ec_fsm_slave_config_running(
const ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
return fsm->state != ec_fsm_slave_config_state_end
&& fsm->state != ec_fsm_slave_config_state_error;
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*
* \return false, if state machine has terminated
*/
int ec_fsm_slave_config_exec(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
return ec_fsm_slave_config_running(fsm);
}
fsm->state(fsm);
return ec_fsm_slave_config_running(fsm);
}
/*****************************************************************************/
/**
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_slave_config_success(
const ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
return fsm->state == ec_fsm_slave_config_state_end;
}
/******************************************************************************
* Slave configuration state machine
*****************************************************************************/
/** Slave configuration state: START.
*/
void ec_fsm_slave_config_state_start(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring slave %u...\n", fsm->slave->ring_position);
}
ec_fsm_slave_config_enter_init(fsm);
}
/*****************************************************************************/
/** Start state change to INIT.
*/
void ec_fsm_slave_config_enter_init(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
ec_fsm_change_exec(fsm->fsm_change);
fsm->state = ec_fsm_slave_config_state_init;
}
/*****************************************************************************/
/** Slave configuration state: INIT.
*/
void ec_fsm_slave_config_state_init(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (ec_fsm_change_exec(fsm->fsm_change)) return;
if (!ec_fsm_change_success(fsm->fsm_change)) {
if (!fsm->fsm_change->spontaneous_change)
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
if (master->debug_level) {
EC_DBG("Slave %u is now in INIT.\n", slave->ring_position);
}
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slave_config_enter_clear_sync(fsm);
return;
}
if (master->debug_level)
EC_DBG("Clearing FMMU configurations of slave %u...\n",
slave->ring_position);
// clear FMMU configurations
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_clear_fmmus;
}
/*****************************************************************************/
/** Slave configuration state: CLEAR FMMU.
*/
void ec_fsm_slave_config_state_clear_fmmus(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed receive FMMU clearing datagram for slave %u.\n",
fsm->slave->ring_position);
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to clear FMMUs of slave %u: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_clear_sync(fsm);
}
/*****************************************************************************/
/** Clear the sync manager configurations.
*/
void ec_fsm_slave_config_enter_clear_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
size_t sync_size;
if (!slave->base_sync_count) {
// no sync managers
ec_fsm_slave_config_enter_dc_clear_assign(fsm);
return;
}
if (slave->master->debug_level)
EC_DBG("Clearing sync manager configurations of slave %u...\n",
slave->ring_position);
sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
// clear sync manager configurations
ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
memset(datagram->data, 0x00, sync_size);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_clear_sync;
}
/*****************************************************************************/
/** Slave configuration state: CLEAR SYNC.
*/
void ec_fsm_slave_config_state_clear_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed receive sync manager clearing datagram"
" for slave %u.\n", fsm->slave->ring_position);
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to clear sync manager configurations of slave %u: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_dc_clear_assign(fsm);
}
/*****************************************************************************/
/** Clear the DC assignment.
*/
void ec_fsm_slave_config_enter_dc_clear_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (!slave->base_dc_supported || !slave->has_dc_system_time) {
ec_fsm_slave_config_enter_mbox_sync(fsm);
return;
}
if (slave->master->debug_level)
EC_DBG("Clearing DC assignment of slave %u...\n",
slave->ring_position);
ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
}
/*****************************************************************************/
/** Slave configuration state: CLEAR DC ASSIGN.
*/
void ec_fsm_slave_config_state_dc_clear_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed receive DC assignment clearing datagram"
" for slave %u.\n", fsm->slave->ring_position);
return;
}
if (fsm->slave->master->debug_level && datagram->working_counter != 1) {
// clearing the DC assignment does not succeed on simple slaves
EC_DBG("Failed to clear DC assignment of slave %u: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
}
// read DC system time and system time offset
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0910, 24);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_read_offset;
}
/*****************************************************************************/
/** Slave configuration state: DC READ OFFSET.
*/
void ec_fsm_slave_config_state_dc_read_offset(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
u64 system_time, old_offset, new_offset;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive DC times datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to get DC times of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
system_time = EC_READ_U64(datagram->data);
old_offset = EC_READ_U64(datagram->data + 16);
new_offset = slave->master->app_time - system_time + old_offset;
if (slave->master->debug_level)
EC_DBG("Slave %u: DC system_time=%llu old_offset=%llu, "
"app_time=%llu, new_offset=%llu\n",
slave->ring_position, system_time, old_offset,
slave->master->app_time, new_offset);
// set DC system time offset and transmission delay
ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
EC_WRITE_U64(datagram->data, new_offset);
EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_write_offset;
}
/*****************************************************************************/
/** Slave configuration state: DC WRITE OFFSET.
*/
void ec_fsm_slave_config_state_dc_write_offset(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive DC system time offset datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set DC system time offset of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_mbox_sync(fsm);
}
/*****************************************************************************/
/** Check for mailbox sync managers to be configured.
*/
void ec_fsm_slave_config_enter_mbox_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i;
// slave is now in INIT
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %u.\n",
slave->ring_position);
}
return;
}
if (!slave->sii.mailbox_protocols) {
// no mailbox protocols supported
if (master->debug_level)
EC_DBG("Slave %u does not support mailbox communication.\n",
slave->ring_position);
ec_fsm_slave_config_enter_boot_preop(fsm);
return;
}
if (master->debug_level) {
EC_DBG("Configuring mailbox sync managers of slave %u.\n",
slave->ring_position);
}
if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
ec_sync_t sync;
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
EC_DIR_INVALID, // use default direction
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.boot_rx_mailbox_offset;
slave->configured_rx_mailbox_size =
slave->sii.boot_rx_mailbox_size;
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
EC_DIR_INVALID, // use default direction
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.boot_tx_mailbox_offset;
slave->configured_tx_mailbox_size =
slave->sii.boot_tx_mailbox_size;
} else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
ec_datagram_zero(datagram);
for (i = 0; i < 2; i++) {
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
NULL, // use default sync manager configuration
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
slave->configured_rx_mailbox_offset =
slave->sii.syncs[0].physical_start_address;
slave->configured_rx_mailbox_size =
slave->sii.syncs[0].default_length;
slave->configured_tx_mailbox_offset =
slave->sii.syncs[1].physical_start_address;
slave->configured_tx_mailbox_size =
slave->sii.syncs[1].default_length;
} else { // no mailbox sync manager configurations provided
ec_sync_t sync;
if (master->debug_level)
EC_DBG("Slave %u does not provide"
" mailbox sync manager configurations.\n",
slave->ring_position);
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
ec_datagram_zero(datagram);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
NULL, // use default sync manager configuration
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
slave->configured_rx_mailbox_size =
slave->sii.std_rx_mailbox_size;
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
NULL, // use default sync manager configuration
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
slave->configured_tx_mailbox_size =
slave->sii.std_tx_mailbox_size;
}
fsm->take_time = 1;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_mbox_sync;
}
/*****************************************************************************/
/** Slave configuration state: SYNC.
*
* \todo Timeout for response.
*/
void ec_fsm_slave_config_state_mbox_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive sync manager configuration datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (fsm->take_time) {
fsm->take_time = 0;
fsm->jiffies_start = datagram->jiffies_sent;
}
/* Because the sync manager configurations are cleared during the last
* cycle, some slaves do not immediately respond to the mailbox sync
* manager configuration datagram. Therefore, resend the datagram for
* a certain time, if the slave does not respond.
*/
if (datagram->working_counter == 0) {
unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
if (diff >= HZ) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Timeout while configuring mailbox sync managers of"
" slave %u.\n", slave->ring_position);
return;
}
else if (slave->master->debug_level) {
EC_DBG("Resending after %u ms...\n",
(unsigned int) diff * 1000 / HZ);
}
// send configuration datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
else if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set sync managers of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_boot_preop(fsm);
}
/*****************************************************************************/
/** Request PREOP state.
*/
void ec_fsm_slave_config_enter_boot_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
fsm->state = ec_fsm_slave_config_state_boot_preop;
if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
} else { // BOOT
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
}
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: BOOT/PREOP.
*/
void ec_fsm_slave_config_state_boot_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->slave->master;
if (ec_fsm_change_exec(fsm->fsm_change)) return;
if (!ec_fsm_change_success(fsm->fsm_change)) {
if (!fsm->fsm_change->spontaneous_change)
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
// slave is now in BOOT or PREOP
slave->jiffies_preop = fsm->datagram->jiffies_received;
if (master->debug_level) {
EC_DBG("Slave %u is now in %s.\n", slave->ring_position,
slave->requested_state != EC_SLAVE_STATE_BOOT
? "PREOP" : "BOOT");
}
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %u.\n",
slave->ring_position);
}
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
/*****************************************************************************/
/** Check for SDO configurations to be applied.
*/
void ec_fsm_slave_config_enter_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
}
// start SDO configuration
fsm->state = ec_fsm_slave_config_state_sdo_conf;
fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
ec_sdo_request_t, list);
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
ecrt_sdo_request_write(&fsm->request_copy);
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: SDO_CONF.
*/
void ec_fsm_slave_config_state_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("SDO configuration failed for slave %u.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
if (!fsm->slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
// Another SDO to configure?
if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
fsm->request = list_entry(fsm->request->list.next,
ec_sdo_request_t, list);
ec_sdo_request_copy(&fsm->request_copy, fsm->request);
ecrt_sdo_request_write(&fsm->request_copy);
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
// All SDOs are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/*****************************************************************************/
/** PDO_CONF entry function.
*/
void ec_fsm_slave_config_enter_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// Start configuring PDOs
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_conf;
fsm->state(fsm); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: PDO_CONF.
*/
void ec_fsm_slave_config_state_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// TODO check for config here
if (ec_fsm_pdo_exec(fsm->fsm_pdo))
return;
if (!fsm->slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
EC_WARN("PDO configuration failed on slave %u.\n",
fsm->slave->ring_position);
}
ec_fsm_slave_config_enter_watchdog_divider(fsm);
}
/*****************************************************************************/
/** WATCHDOG_DIVIDER entry function.
*/
void ec_fsm_slave_config_enter_watchdog_divider(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
ec_master_t *master = slave->master;
ec_slave_config_t *config = slave->config;
if (config && config->watchdog_divider) {
if (master->debug_level)
EC_DBG("Setting watchdog divider to %u.\n",
config->watchdog_divider);
ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
EC_WRITE_U16(datagram->data, config->watchdog_divider);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_watchdog_divider;
} else {
ec_fsm_slave_config_enter_watchdog(fsm);
}
}
/*****************************************************************************/
/** Slave configuration state: WATCHDOG_DIVIDER.
*/
void ec_fsm_slave_config_state_watchdog_divider(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive watchdog divider configuration datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
EC_WARN("Failed to set watchdog divider of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_watchdog(fsm);
}
/*****************************************************************************/
/** WATCHDOG entry function
*/
void ec_fsm_slave_config_enter_watchdog(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_slave_config_t *config = slave->config;
if (config && config->watchdog_intervals) {
if (slave->master->debug_level)
EC_DBG("Setting process data watchdog intervals to %u.\n",
config->watchdog_intervals);
ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
EC_WRITE_U16(datagram->data, config->watchdog_intervals);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_watchdog;
} else {
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
}
/*****************************************************************************/
/** Slave configuration state: WATCHDOG.
*/
void ec_fsm_slave_config_state_watchdog(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive sync manager watchdog configuration "
"datagram for slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
}
ec_fsm_slave_config_enter_pdo_sync(fsm);
}
/*****************************************************************************/
/** Check for PDO sync managers to be configured.
*/
void ec_fsm_slave_config_enter_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i, offset, num_pdo_syncs;
uint8_t sync_index;
const ec_sync_t *sync;
uint16_t size;
if (slave->sii.mailbox_protocols) {
offset = 2; // slave has mailboxes
} else {
offset = 0;
}
if (slave->sii.sync_count <= offset) {
// no PDO sync managers to configure
ec_fsm_slave_config_enter_fmmu(fsm);
return;
}
num_pdo_syncs = slave->sii.sync_count - offset;
// configure sync managers for process data
ec_datagram_fpwr(datagram, slave->station_address,
0x0800 + EC_SYNC_PAGE_SIZE * offset,
EC_SYNC_PAGE_SIZE * num_pdo_syncs);
ec_datagram_zero(datagram);
for (i = 0; i < num_pdo_syncs; i++) {
const ec_sync_config_t *sync_config;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
sync_config = &slave->config->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
} else {
sync_config = NULL;
size = sync->default_length;
}
ec_sync_page(sync, sync_index, size, sync_config,
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_pdo_sync;
}
/*****************************************************************************/
/** Configure PDO sync managers.
*/
void ec_fsm_slave_config_state_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive process data sync manager configuration"
" datagram for slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set process data sync managers of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_fmmu(fsm);
}
/*****************************************************************************/
/** Check for FMMUs to be configured.
*/
void ec_fsm_slave_config_enter_fmmu(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i;
const ec_fmmu_config_t *fmmu;
const ec_sync_t *sync;
if (!slave->config) {
ec_fsm_slave_config_enter_safeop(fsm);
return;
}
if (slave->base_fmmu_count < slave->config->used_fmmus) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Slave %u has less FMMUs (%u) than requested (%u).\n",
slave->ring_position, slave->base_fmmu_count,
slave->config->used_fmmus);
return;
}
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slave_config_enter_dc_cycle(fsm);
return;
}
// configure FMMUs
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
ec_datagram_zero(datagram);
for (i = 0; i < slave->config->used_fmmus; i++) {
fmmu = &slave->config->fmmu_configs[i];
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
" %u!\n", slave->ring_position);
return;
}
ec_fmmu_config_page(fmmu, sync,
datagram->data + EC_FMMU_PAGE_SIZE * i);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_fmmu;
}
/*****************************************************************************/
/** Slave configuration state: FMMU.
*/
void ec_fsm_slave_config_state_fmmu(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive FMMUs datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set FMMUs of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_dc_cycle(fsm);
}
/*****************************************************************************/
/** Check for DC to be configured.
*/
void ec_fsm_slave_config_enter_dc_cycle(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_slave_config_t *config = slave->config;
if (!config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
if (config->dc_assign_activate) {
if (!slave->base_dc_supported || !slave->has_dc_system_time) {
EC_WARN("Slave %u seems not to support distributed clocks!\n",
slave->ring_position);
}
if (slave->master->debug_level)
EC_DBG("Slave %u: Setting DC cycle times to %u / %u.\n",
slave->ring_position,
config->dc_sync[0].cycle_time,
config->dc_sync[1].cycle_time);
// set DC cycle times
ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_cycle;
} else {
// DC are unused
ec_fsm_slave_config_enter_safeop(fsm);
}
}
/*****************************************************************************/
/** Slave configuration state: DC CYCLE.
*/
void ec_fsm_slave_config_state_dc_cycle(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_slave_config_t *config = slave->config;
ec_sync_signal_t *sync0 = &config->dc_sync[0];
u64 start_time;
if (!config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive DC cycle times datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set DC cycle times of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
// set DC start time
start_time = master->app_time + 100000000ULL; // now + X ns
// FIXME use slave's local system time here?
if (sync0->cycle_time) {
// find correct phase
if (master->has_start_time) {
u64 diff, start;
u32 remainder;
diff = start_time - master->app_start_time;
remainder = do_div(diff, sync0->cycle_time);
start = start_time +
sync0->cycle_time - remainder + sync0->shift_time;
if (master->debug_level) {
EC_DBG("app_start_time=%llu\n", master->app_start_time);
EC_DBG(" start_time=%llu\n", start_time);
EC_DBG(" cycle_time=%u\n", sync0->cycle_time);
EC_DBG(" shift_time=%u\n", sync0->shift_time);
EC_DBG(" remainder=%u\n", remainder);
EC_DBG(" start=%llu\n", start);
}
start_time = start;
} else {
EC_WARN("No application time supplied. Cyclic start time will "
"not be in phase for slave %u.\n", slave->ring_position);
}
}
if (master->debug_level)
EC_DBG("Slave %u: Setting DC cyclic operation start time to %llu.\n",
slave->ring_position, start_time);
ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
EC_WRITE_U64(datagram->data, start_time);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_start;
}
/*****************************************************************************/
/** Slave configuration state: DC START.
*/
void ec_fsm_slave_config_state_dc_start(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_slave_config_t *config = slave->config;
if (!config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive DC start time datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set DC start time of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (slave->master->debug_level)
EC_DBG("Slave %u: Setting DC AssignActivate to 0x%04x.\n",
slave->ring_position, config->dc_assign_activate);
// assign sync unit to EtherCAT or PDI
ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
EC_WRITE_U16(datagram->data, config->dc_assign_activate);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_assign;
}
/*****************************************************************************/
/** Slave configuration state: DC ASSIGN.
*/
void ec_fsm_slave_config_state_dc_assign(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to receive DC activation datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to set DC cyclic operation state of slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_fsm_slave_config_enter_safeop(fsm);
}
/*****************************************************************************/
/** Request SAFEOP state.
*/
void ec_fsm_slave_config_enter_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
fsm->state = ec_fsm_slave_config_state_safeop;
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: SAFEOP.
*/
void ec_fsm_slave_config_state_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
if (ec_fsm_change_exec(fsm->fsm_change)) return;
if (!ec_fsm_change_success(fsm->fsm_change)) {
if (!fsm->fsm_change->spontaneous_change)
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
// slave is now in SAFEOP
if (master->debug_level) {
EC_DBG("Slave %u is now in SAFEOP.\n", slave->ring_position);
}
if (fsm->slave->current_state == fsm->slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
if (master->debug_level) {
EC_DBG("Finished configuration of slave %u.\n",
slave->ring_position);
}
return;
}
// set state to OP
fsm->state = ec_fsm_slave_config_state_op;
ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
}
/*****************************************************************************/
/** Slave configuration state: OP
*/
void ec_fsm_slave_config_state_op(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_master_t *master = fsm->slave->master;
ec_slave_t *slave = fsm->slave;
if (ec_fsm_change_exec(fsm->fsm_change)) return;
if (!ec_fsm_change_success(fsm->fsm_change)) {
if (!fsm->fsm_change->spontaneous_change)
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
// slave is now in OP
if (master->debug_level) {
EC_DBG("Slave %u is now in OP.\n", slave->ring_position);
EC_DBG("Finished configuration of slave %u.\n", slave->ring_position);
}
fsm->state = ec_fsm_slave_config_state_end; // successful
}
/*****************************************************************************/
/** Reconfigure the slave starting at INIT.
*/
void ec_fsm_slave_config_reconfigure(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
if (fsm->slave->master->debug_level) {
EC_DBG("Slave configuration for slave %u detached during "
"configuration. Reconfiguring.", fsm->slave->ring_position);
}
ec_fsm_slave_config_enter_init(fsm); // reconfigure
}
/******************************************************************************
* Common state functions
*****************************************************************************/
/** State: ERROR.
*/
void ec_fsm_slave_config_state_error(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_slave_config_state_end(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
}
/*****************************************************************************/