/******************************************************************************
*
* $Id$
*
* 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"
/*****************************************************************************/
/** Maximum clock difference (in ns) before going to SAFEOP.
*
* Wait for DC time difference to drop under this absolute value before
* requesting SAFEOP.
*/
#define EC_DC_MAX_SYNC_DIFF_NS 10000
/** Maximum time (in ms) to wait for clock discipline.
*/
#define EC_DC_SYNC_WAIT_MS 5000
/** Time offset (in ns), that is added to cyclic start time.
*/
#define EC_DC_START_OFFSET 100000000ULL
/*****************************************************************************/
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_mbox_sync(ec_fsm_slave_config_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_state_assign_pdi(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(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_sync_check(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_soe_conf_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 *);
#ifdef EC_SII_ASSIGN
void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
#endif
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_soe_conf_preop(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_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_op(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_soe_t *fsm_soe, /**< SoE state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
)
{
ec_sdo_request_init(&fsm->request_copy);
ec_soe_request_init(&fsm->soe_request_copy);
fsm->datagram = datagram;
fsm->fsm_change = fsm_change;
fsm->fsm_coe = fsm_coe;
fsm->fsm_soe = fsm_soe;
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);
ec_soe_request_clear(&fsm->soe_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 */
)
{
EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
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_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;
}
EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
if (!slave->base_fmmu_count) { // skip FMMU configuration
ec_fsm_slave_config_enter_clear_sync(fsm);
return;
}
EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
// 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_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
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;
}
EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
// clear sync manager configurations
ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
ec_datagram_zero(datagram);
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_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
" clearing datagram.\n");
return;
}
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(fsm->slave,
"Failed to clear sync manager configurations: ");
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;
}
EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
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_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
" clearing datagram.\n");
return;
}
if (datagram->working_counter != 1) {
// clearing the DC assignment does not succeed on simple slaves
EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
ec_datagram_print_wc_error(datagram);
}
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_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
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
if (!slave->sii.mailbox_protocols) {
// no mailbox protocols supported
EC_SLAVE_DBG(slave, 1, "Slave does not support"
" mailbox communication.\n");
#ifdef EC_SII_ASSIGN
ec_fsm_slave_config_enter_assign_pdi(fsm);
#else
ec_fsm_slave_config_enter_boot_preop(fsm);
#endif
return;
}
EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
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);
ec_datagram_zero(datagram);
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
0, // no PDO xfer
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
0, // no PDO xfer
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
0, // no PDO xfer
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;
EC_SLAVE_DBG(slave, 1, "Slave does not provide"
" mailbox sync manager configurations.\n");
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
0, // no PDO xfer
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
0, // no PDO xfer
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_SLAVE_ERR(slave, "Failed to receive sync manager"
" configuration datagram: ");
ec_datagram_print_state(datagram);
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_SLAVE_ERR(slave, "Timeout while configuring"
" mailbox sync managers.\n");
return;
} else {
EC_SLAVE_DBG(slave, 1, "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_SLAVE_ERR(slave, "Failed to set sync managers: ");
ec_datagram_print_wc_error(datagram);
return;
}
#ifdef EC_SII_ASSIGN
ec_fsm_slave_config_enter_assign_pdi(fsm);
#else
ec_fsm_slave_config_enter_boot_preop(fsm);
#endif
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/** Assign SII to PDI.
*/
void ec_fsm_slave_config_enter_assign_pdi(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
EC_SLAVE_DBG(slave, 1, "Assigning SII access to PDI.\n");
ec_datagram_fpwr(datagram, slave->station_address, 0x0500, 0x01);
EC_WRITE_U8(datagram->data, 0x01); // PDI
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_assign_pdi;
}
else {
ec_fsm_slave_config_enter_boot_preop(fsm);
}
}
/*****************************************************************************/
/** Slave configuration state: ASSIGN_PDI.
*/
void ec_fsm_slave_config_state_assign_pdi(
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) {
EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
goto cont_preop;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to assign SII to PDI: ");
ec_datagram_print_wc_error(datagram);
}
cont_preop:
ec_fsm_slave_config_enter_boot_preop(fsm);
}
#endif
/*****************************************************************************/
/** 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;
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;
EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
#ifdef EC_SII_ASSIGN
EC_SLAVE_DBG(slave, 1, "Assigning SII access back to EtherCAT.\n");
ec_datagram_fpwr(fsm->datagram, slave->station_address, 0x0500, 0x01);
EC_WRITE_U8(fsm->datagram->data, 0x00); // EtherCAT
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_assign_ethercat;
#else
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
#endif
}
/*****************************************************************************/
#ifdef EC_SII_ASSIGN
/** Slave configuration state: ASSIGN_ETHERCAT.
*/
void ec_fsm_slave_config_state_assign_ethercat(
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) {
EC_SLAVE_WARN(slave, "Failed receive SII assignment datagram: ");
ec_datagram_print_state(datagram);
goto cont_sdo_conf;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to assign SII back to EtherCAT: ");
ec_datagram_print_wc_error(datagram);
}
cont_sdo_conf:
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
ec_fsm_slave_config_enter_sdo_conf(fsm);
}
#endif
/*****************************************************************************/
/** 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_soe_conf_preop(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, fsm->datagram); // 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, fsm->datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
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, fsm->datagram); // execute immediately
return;
}
// All SDOs are now configured.
ec_fsm_slave_config_enter_soe_conf_preop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied.
*/
void ec_fsm_slave_config_enter_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_PREOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
// No SoE configuration to be applied in PREOP
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
return;
}
if (!ec_fsm_soe_success(fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
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 IDN to configure in PREOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
// All PREOP IDNs 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, fsm->datagram)) {
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_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
}
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_slave_config_t *config = slave->config;
if (config && config->watchdog_divider) {
EC_SLAVE_DBG(slave, 1, "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_SLAVE_ERR(slave, "Failed to receive watchdog divider"
" configuration datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
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) {
EC_SLAVE_DBG(slave, 1, "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_SLAVE_ERR(slave, "Failed to receive sync manager"
" watchdog configuration datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to set process data"
" watchdog intervals: ");
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, j, 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;
uint8_t pdo_xfer = 0;
sync_index = i + offset;
sync = &slave->sii.syncs[sync_index];
if (slave->config) {
const ec_slave_config_t *sc = slave->config;
sync_config = &sc->sync_configs[sync_index];
size = ec_pdo_list_total_size(&sync_config->pdos);
// determine, if PDOs shall be transferred via this SM
// inthat case, enable sync manager in every case
for (j = 0; j < sc->used_fmmus; j++) {
if (sc->fmmu_configs[j].sync_index == sync_index) {
pdo_xfer = 1;
break;
}
}
} else {
sync_config = NULL;
size = sync->default_length;
}
ec_sync_page(sync, sync_index, size, sync_config, pdo_xfer,
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_SLAVE_ERR(slave, "Failed to receive process data sync"
" manager configuration datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
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_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
" than requested (%u).\n", 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_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
" for FMMU!\n");
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_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
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_SLAVE_WARN(slave, "Slave seems not to support"
" distributed clocks!\n");
}
EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
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_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_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
ec_datagram_print_wc_error(datagram);
return;
}
EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
fsm->jiffies_start = jiffies;
ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_sync_check;
}
/*****************************************************************************/
/** Slave configuration state: DC SYNC CHECK.
*/
void ec_fsm_slave_config_state_dc_sync_check(
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;
uint32_t abs_sync_diff;
unsigned long diff_ms;
ec_sync_signal_t *sync0 = &config->dc_sync[0];
ec_sync_signal_t *sync1 = &config->dc_sync[1];
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_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
ec_datagram_print_wc_error(datagram);
return;
}
abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
diff_ms);
} else {
EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
diff_ms, abs_sync_diff);
// check synchrony again
ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
fsm->retries = EC_FSM_RETRIES;
return;
}
} else {
EC_SLAVE_DBG(slave, 1, "%u ns difference after %lu ms.\n",
abs_sync_diff, diff_ms);
}
// set DC start time
start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns
// FIXME use slave's local system time here?
if (sync0->cycle_time) {
// find correct phase
if (master->has_app_time) {
u64 diff, start;
u32 remainder, cycle;
diff = start_time - master->app_start_time;
cycle = sync0->cycle_time + sync1->cycle_time;
remainder = do_div(diff, cycle);
start = start_time + cycle - remainder + sync0->shift_time;
EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
master->app_start_time);
EC_SLAVE_DBG(slave, 1, " app_time=%llu\n", master->app_time);
EC_SLAVE_DBG(slave, 1, " start_time=%llu\n", start_time);
EC_SLAVE_DBG(slave, 1, " cycle=%u\n", cycle);
EC_SLAVE_DBG(slave, 1, " shift_time=%i\n", sync0->shift_time);
EC_SLAVE_DBG(slave, 1, " remainder=%u\n", remainder);
EC_SLAVE_DBG(slave, 1, " start=%llu\n", start);
start_time = start;
} else {
EC_SLAVE_WARN(slave, "No application time supplied."
" Cyclic start time will not be in phase.\n");
}
}
EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
" start time to %llu.\n", 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_SLAVE_ERR(slave, "Failed to receive DC start time datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to set DC start time: ");
ec_datagram_print_wc_error(datagram);
return;
}
EC_SLAVE_DBG(slave, 1, "Setting DC AssignActivate to 0x%04x.\n",
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_SLAVE_ERR(slave, "Failed to receive DC activation datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_SLAVE_ERR(slave, "Failed to activate DC: ");
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_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
EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
if (fsm->slave->current_state == fsm->slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied in SAFEOP.
*/
void ec_fsm_slave_config_enter_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_op(fsm);
return;
}
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_SAFEOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
// No SoE configuration to be applied in SAFEOP
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
if (ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram)) {
return;
}
if (!ec_fsm_soe_success(fsm->fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
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 IDN to configure in SAFEOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm->fsm_soe, fsm->slave,
&fsm->soe_request_copy);
ec_fsm_soe_exec(fsm->fsm_soe, fsm->datagram);
return;
}
}
// All SAFEOP IDNs are now configured.
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Bring slave to OP.
*/
void ec_fsm_slave_config_enter_op(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// set state to OP
fsm->state = ec_fsm_slave_config_state_op;
ec_fsm_change_start(fsm->fsm_change, fsm->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_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
EC_SLAVE_DBG(slave, 1, "Now in OP. Finished configuration.\n");
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 */
)
{
EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
"configuration. Reconfiguring.");
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 */
)
{
}
/*****************************************************************************/