/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 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 master state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#ifdef EC_EOE
#include "ethernet.h"
#endif
#include "fsm_master.h"
#include "fsm_foe.h"
/*****************************************************************************/
/** Time difference [ns] to tolerate without setting a new system time offset.
*/
#define EC_SYSTEM_TIME_TOLERANCE_NS 1000000
/*****************************************************************************/
void ec_fsm_master_state_start(ec_fsm_master_t *);
void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
void ec_fsm_master_state_read_al_status(ec_fsm_master_t *);
#ifdef EC_LOOP_CONTROL
void ec_fsm_master_state_read_dl_status(ec_fsm_master_t *);
void ec_fsm_master_state_open_port(ec_fsm_master_t *);
#endif
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
#ifdef EC_LOOP_CONTROL
void ec_fsm_master_state_loop_control(ec_fsm_master_t *);
#endif
void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);
void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);
void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
void ec_fsm_master_enter_clear_addresses(ec_fsm_master_t *);
void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_master_init(
ec_fsm_master_t *fsm, /**< Master state machine. */
ec_master_t *master, /**< EtherCAT master. */
ec_datagram_t *datagram /**< Datagram object to use. */
)
{
fsm->master = master;
fsm->datagram = datagram;
ec_fsm_master_reset(fsm);
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe);
ec_fsm_soe_init(&fsm->fsm_soe);
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo);
ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
&fsm->fsm_slave_config, &fsm->fsm_pdo);
ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_master_clear(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
// clear sub-state machines
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_soe_clear(&fsm->fsm_soe);
ec_fsm_pdo_clear(&fsm->fsm_pdo);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
ec_fsm_sii_clear(&fsm->fsm_sii);
}
/*****************************************************************************/
/** Reset state machine.
*/
void ec_fsm_master_reset(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_device_index_t dev_idx;
fsm->state = ec_fsm_master_state_start;
fsm->idle = 0;
fsm->dev_idx = EC_DEVICE_MAIN;
for (dev_idx = EC_DEVICE_MAIN;
dev_idx < ec_master_num_devices(fsm->master); dev_idx++) {
fsm->link_state[dev_idx] = 0;
fsm->slaves_responding[dev_idx] = 0;
fsm->slave_states[dev_idx] = EC_SLAVE_STATE_UNKNOWN;
}
fsm->rescan_required = 0;
}
/*****************************************************************************/
/** 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 true, if the state machine was executed
*/
int ec_fsm_master_exec(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
return 0;
}
fsm->state(fsm);
return 1;
}
/*****************************************************************************/
/**
* \return true, if the state machine is in an idle phase
*/
int ec_fsm_master_idle(
const ec_fsm_master_t *fsm /**< Master state machine. */
)
{
return fsm->idle;
}
/*****************************************************************************/
/** Restarts the master state machine.
*/
void ec_fsm_master_restart(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
fsm->dev_idx = EC_DEVICE_MAIN;
fsm->state = ec_fsm_master_state_start;
fsm->state(fsm); // execute immediately
}
/******************************************************************************
* Master state machine
*****************************************************************************/
/** Master state: START.
*
* Starts with getting slave count and slave states.
*/
void ec_fsm_master_state_start(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
fsm->idle = 1;
// check for emergency requests
if (!list_empty(&master->emerg_reg_requests)) {
ec_reg_request_t *request;
// get first request
request = list_entry(master->emerg_reg_requests.next,
ec_reg_request_t, list);
list_del_init(&request->list); // dequeue
request->state = EC_INT_REQUEST_BUSY;
if (request->transfer_size > fsm->datagram->mem_size) {
EC_MASTER_ERR(master, "Emergency request data too large!\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&master->request_queue);
fsm->state(fsm); // continue
return;
}
if (request->dir != EC_DIR_OUTPUT) {
EC_MASTER_ERR(master, "Emergency requests must be"
" write requests!\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&master->request_queue);
fsm->state(fsm); // continue
return;
}
EC_MASTER_DBG(master, 1, "Writing emergency register request...\n");
ec_datagram_apwr(fsm->datagram, request->ring_position,
request->address, request->transfer_size);
memcpy(fsm->datagram->data, request->data, request->transfer_size);
fsm->datagram->device_index = EC_DEVICE_MAIN;
request->state = EC_INT_REQUEST_SUCCESS;
wake_up_all(&master->request_queue);
return;
}
// check for detached config requests
ec_master_expire_slave_config_requests(fsm->master);
ec_datagram_brd(fsm->datagram, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->dev_idx;
fsm->state = ec_fsm_master_state_broadcast;
}
/*****************************************************************************/
/** Master state: BROADCAST.
*
* Processes the broadcast read slave count and slaves states.
*/
void ec_fsm_master_state_broadcast(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
unsigned int i, size;
ec_slave_t *slave;
ec_master_t *master = fsm->master;
// bus topology change?
if (datagram->working_counter != fsm->slaves_responding[fsm->dev_idx]) {
fsm->rescan_required = 1;
fsm->slaves_responding[fsm->dev_idx] = datagram->working_counter;
EC_MASTER_INFO(master, "%u slave(s) responding on %s device.\n",
fsm->slaves_responding[fsm->dev_idx],
ec_device_names[fsm->dev_idx != 0]);
}
if (fsm->link_state[fsm->dev_idx] &&
!master->devices[fsm->dev_idx].link_state) {
ec_device_index_t dev_idx;
EC_MASTER_DBG(master, 1, "Master state machine detected "
"link down on %s device. Clearing slave list.\n",
ec_device_names[fsm->dev_idx != 0]);
#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
#endif
ec_master_clear_slaves(master);
for (dev_idx = EC_DEVICE_MAIN;
dev_idx < ec_master_num_devices(master); dev_idx++) {
fsm->slave_states[dev_idx] = 0x00;
fsm->slaves_responding[dev_idx] = 0; /* Reset to trigger rescan on
next link up. */
}
}
fsm->link_state[fsm->dev_idx] = master->devices[fsm->dev_idx].link_state;
if (datagram->state == EC_DATAGRAM_RECEIVED &&
fsm->slaves_responding[fsm->dev_idx]) {
uint8_t states = EC_READ_U8(datagram->data);
if (states != fsm->slave_states[fsm->dev_idx]) {
// slave states changed
char state_str[EC_STATE_STRING_SIZE];
fsm->slave_states[fsm->dev_idx] = states;
ec_state_string(states, state_str, 1);
EC_MASTER_INFO(master, "Slave states on %s device: %s.\n",
ec_device_names[fsm->dev_idx != 0], state_str);
}
} else {
fsm->slave_states[fsm->dev_idx] = 0x00;
}
fsm->dev_idx++;
if (fsm->dev_idx < ec_master_num_devices(master)) {
// check number of responding slaves on next device
fsm->state = ec_fsm_master_state_start;
fsm->state(fsm); // execute immediately
return;
}
if (fsm->rescan_required) {
down(&master->scan_sem);
if (!master->allow_scan) {
up(&master->scan_sem);
} else {
unsigned int count = 0, next_dev_slave, ring_position;
ec_device_index_t dev_idx;
master->scan_busy = 1;
up(&master->scan_sem);
// clear all slaves and scan the bus
fsm->rescan_required = 0;
fsm->idle = 0;
fsm->scan_jiffies = jiffies;
#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
#endif
ec_master_clear_slaves(master);
for (dev_idx = EC_DEVICE_MAIN;
dev_idx < ec_master_num_devices(master); dev_idx++) {
count += fsm->slaves_responding[dev_idx];
}
if (!count) {
// no slaves present -> finish state machine.
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
}
size = sizeof(ec_slave_t) * count;
if (!(master->slaves =
(ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
EC_MASTER_ERR(master, "Failed to allocate %u bytes"
" of slave memory!\n", size);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
}
// init slaves
dev_idx = EC_DEVICE_MAIN;
next_dev_slave = fsm->slaves_responding[dev_idx];
ring_position = 0;
for (i = 0; i < count; i++, ring_position++) {
slave = master->slaves + i;
while (i >= next_dev_slave) {
dev_idx++;
next_dev_slave += fsm->slaves_responding[dev_idx];
ring_position = 0;
}
ec_slave_init(slave, master, dev_idx, ring_position, i + 1);
// do not force reconfiguration in operation phase to avoid
// unnecesssary process data interruptions
if (master->phase != EC_OPERATION) {
slave->force_config = 1;
}
}
master->slave_count = count;
master->fsm_slave = master->slaves;
/* start with first device with slaves responding; at least one
* has responding slaves, otherwise count would be zero. */
fsm->dev_idx = EC_DEVICE_MAIN;
while (!fsm->slaves_responding[fsm->dev_idx]) {
fsm->dev_idx++;
}
ec_fsm_master_enter_clear_addresses(fsm);
return;
}
}
if (master->slave_count) {
// application applied configurations
if (master->config_changed) {
master->config_changed = 0;
EC_MASTER_DBG(master, 1, "Configuration changed.\n");
fsm->slave = master->slaves; // begin with first slave
ec_fsm_master_enter_write_system_times(fsm);
} else {
// fetch state from first slave
fsm->slave = master->slaves;
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
ec_datagram_zero(datagram);
fsm->datagram->device_index = fsm->slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_al_status;
}
} else {
ec_fsm_master_restart(fsm);
}
}
/*****************************************************************************/
/** Check for pending SII write requests and process one.
*
* \return non-zero, if an SII write request is processed.
*/
int ec_fsm_master_action_process_sii(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request;
// search the first request to be processed
while (1) {
if (list_empty(&master->sii_requests))
break;
// get first request
request = list_entry(master->sii_requests.next,
ec_sii_write_request_t, list);
list_del_init(&request->list); // dequeue
request->state = EC_INT_REQUEST_BUSY;
// found pending SII write operation. execute it!
EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");
fsm->sii_request = request;
fsm->sii_index = 0;
ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fsm->state = ec_fsm_master_state_write_sii;
fsm->state(fsm); // execute immediately
return 1;
}
return 0;
}
/*****************************************************************************/
/** Check for pending SDO requests and process one.
*
* \return non-zero, if an SDO request is processed.
*/
int ec_fsm_master_action_process_sdo(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
ec_sdo_request_t *req;
// search for internal requests to be processed
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
if (!slave->config) {
continue;
}
if (!ec_fsm_slave_is_ready(&slave->fsm)) {
EC_SLAVE_DBG(slave, 1, "Busy - processing external request!\n");
continue;
}
list_for_each_entry(req, &slave->config->sdo_requests, list) {
if (req->state == EC_INT_REQUEST_QUEUED) {
if (ec_sdo_request_timed_out(req)) {
req->state = EC_INT_REQUEST_FAILURE;
EC_SLAVE_DBG(slave, 1, "Internal SDO request"
" timed out.\n");
continue;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
req->state = EC_INT_REQUEST_FAILURE;
continue;
}
req->state = EC_INT_REQUEST_BUSY;
EC_SLAVE_DBG(slave, 1, "Processing internal"
" SDO request...\n");
fsm->idle = 0;
fsm->sdo_request = req;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_request;
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram);
return 1;
}
}
}
return 0;
}
/*****************************************************************************/
/** Master action: IDLE.
*
* Does secondary work.
*/
void ec_fsm_master_action_idle(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
// Check for pending internal SDO requests
if (ec_fsm_master_action_process_sdo(fsm)) {
return;
}
// enable processing of requests
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_set_ready(&slave->fsm);
}
// check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (slave->sii.has_general
&& !slave->sii.coe_details.enable_sdo_info)
|| slave->sdo_dictionary_fetched
|| slave->current_state == EC_SLAVE_STATE_INIT
|| slave->current_state == EC_SLAVE_STATE_UNKNOWN
|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
) continue;
EC_SLAVE_DBG(slave, 1, "Fetching SDO dictionary.\n");
slave->sdo_dictionary_fetched = 1;
// start fetching SDO dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_dictionary;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram); // execute immediately
fsm->datagram->device_index = fsm->slave->device_index;
return;
}
// check for pending SII write operations.
if (ec_fsm_master_action_process_sii(fsm)) {
return; // SII write request found
}
ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
/** Master action: Get state of next slave.
*/
void ec_fsm_master_action_next_slave_state(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
// is there another slave to query?
fsm->slave++;
if (fsm->slave < master->slaves + master->slave_count) {
// fetch state from next slave
fsm->idle = 1;
ec_datagram_fprd(fsm->datagram,
fsm->slave->station_address, 0x0130, 2);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_al_status;
return;
}
// all slaves processed
ec_fsm_master_action_idle(fsm);
}
/*****************************************************************************/
#ifdef EC_LOOP_CONTROL
/** Master action: Read DL status of current slave.
*/
void ec_fsm_master_action_read_dl_status(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0110, 2);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_dl_status;
}
/*****************************************************************************/
/** Master action: Open slave port.
*/
void ec_fsm_master_action_open_port(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
EC_SLAVE_INFO(fsm->slave, "Opening ports.\n");
ec_datagram_fpwr(fsm->datagram, fsm->slave->station_address, 0x0101, 1);
EC_WRITE_U8(fsm->datagram->data, 0x54); // port 0 auto, 1-3 auto-close
fsm->datagram->device_index = fsm->slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_open_port;
}
/*****************************************************************************/
/** Master state: READ DL STATUS.
*
* Fetches the DL state of a slave.
*/
void ec_fsm_master_state_read_dl_status(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
unsigned int i;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
ec_datagram_print_state(datagram);
ec_fsm_master_restart(fsm);
return;
}
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
// try again next time
ec_fsm_master_action_next_slave_state(fsm);
return;
}
ec_slave_set_dl_status(slave, EC_READ_U16(datagram->data));
// process port state machines
for (i = 0; i < EC_MAX_PORTS; i++) {
ec_slave_port_t *port = &slave->ports[i];
switch (port->state) {
case EC_SLAVE_PORT_DOWN:
if (port->link.loop_closed) {
if (port->link.link_up) {
port->link_detection_jiffies = jiffies;
port->state = EC_SLAVE_PORT_WAIT;
}
}
else { // loop open
port->state = EC_SLAVE_PORT_UP;
}
break;
case EC_SLAVE_PORT_WAIT:
if (port->link.link_up) {
if (jiffies - port->link_detection_jiffies >
HZ * EC_PORT_WAIT_MS / 1000) {
port->state = EC_SLAVE_PORT_UP;
ec_fsm_master_action_open_port(fsm);
return;
}
}
else { // link down
port->state = EC_SLAVE_PORT_DOWN;
}
break;
default: // EC_SLAVE_PORT_UP
if (!port->link.link_up) {
port->state = EC_SLAVE_PORT_DOWN;
}
break;
}
}
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
}
/*****************************************************************************/
/** Master state: OPEN_PORT.
*
* Opens slave ports.
*/
void ec_fsm_master_state_open_port(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive port open datagram: ");
ec_datagram_print_state(datagram);
ec_fsm_master_restart(fsm);
return;
}
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
EC_SLAVE_ERR(slave, "Did not respond to port open command!\n");
return;
}
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
}
#endif
/*****************************************************************************/
/** Master action: Configure.
*/
void ec_fsm_master_action_configure(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
if (master->config_changed) {
master->config_changed = 0;
// abort iterating through slaves,
// first compensate DC system time offsets,
// then begin configuring at slave 0
EC_MASTER_DBG(master, 1, "Configuration changed"
" (aborting state check).\n");
fsm->slave = master->slaves; // begin with first slave
ec_fsm_master_enter_write_system_times(fsm);
return;
}
// Does the slave have to be configured?
if ((slave->current_state != slave->requested_state
|| slave->force_config) && !slave->error_flag) {
// Start slave configuration
down(&master->config_sem);
master->config_busy = 1;
up(&master->config_sem);
if (master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
new_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state, 0);
ec_state_string(slave->requested_state, new_state, 0);
EC_SLAVE_DBG(slave, 1, "Changing state from %s to %s%s.\n",
old_state, new_state,
slave->force_config ? " (forced)" : "");
}
fsm->idle = 0;
fsm->state = ec_fsm_master_state_configure_slave;
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fsm->state(fsm); // execute immediately
fsm->datagram->device_index = fsm->slave->device_index;
return;
}
#ifdef EC_LOOP_CONTROL
// read DL status
ec_fsm_master_action_read_dl_status(fsm);
#else
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
#endif
}
/*****************************************************************************/
/** Master state: READ AL STATUS.
*
* Fetches the AL state of a slave.
*/
void ec_fsm_master_state_read_al_status(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
ec_datagram_print_state(datagram);
ec_fsm_master_restart(fsm);
return;
}
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
if (!slave->error_flag) {
slave->error_flag = 1;
EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n");
}
fsm->rescan_required = 1;
ec_fsm_master_restart(fsm);
return;
}
// A single slave responded
ec_slave_set_al_status(slave, EC_READ_U8(datagram->data));
if (!slave->error_flag) {
// Check, if new slave state has to be acknowledged
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fsm->idle = 0;
fsm->state = ec_fsm_master_state_acknowledge;
ec_fsm_change_ack(&fsm->fsm_change, slave);
fsm->state(fsm); // execute immediately
return;
}
// No acknowlegde necessary; check for configuration
ec_fsm_master_action_configure(fsm);
return;
}
#ifdef EC_LOOP_CONTROL
// read DL status
ec_fsm_master_action_read_dl_status(fsm);
#else
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
#endif
}
/*****************************************************************************/
/** Master state: ACKNOWLEDGE.
*/
void ec_fsm_master_state_acknowledge(
ec_fsm_master_t *fsm /**< Master 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)) {
fsm->slave->error_flag = 1;
EC_SLAVE_ERR(slave, "Failed to acknowledge state change.\n");
}
ec_fsm_master_action_configure(fsm);
}
/*****************************************************************************/
/** Start clearing slave addresses.
*/
void ec_fsm_master_enter_clear_addresses(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
// broadcast clear all station addresses
ec_datagram_bwr(fsm->datagram, 0x0010, 2);
EC_WRITE_U16(fsm->datagram->data, 0x0000);
fsm->datagram->device_index = fsm->dev_idx;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_clear_addresses;
}
/*****************************************************************************/
/** Start measuring DC delays.
*/
void ec_fsm_master_enter_dc_measure_delays(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
EC_MASTER_DBG(fsm->master, 1, "Sending broadcast-write"
" to measure transmission delays on %s link.\n",
ec_device_names[fsm->dev_idx != 0]);
ec_datagram_bwr(fsm->datagram, 0x0900, 1);
ec_datagram_zero(fsm->datagram);
fsm->datagram->device_index = fsm->dev_idx;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_dc_measure_delays;
}
/*****************************************************************************/
#ifdef EC_LOOP_CONTROL
/** Start writing loop control registers.
*/
void ec_fsm_master_enter_loop_control(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
EC_MASTER_DBG(fsm->master, 1, "Broadcast-writing"
" loop control registers on %s link.\n",
ec_device_names[fsm->dev_idx != 0]);
ec_datagram_bwr(fsm->datagram, 0x0101, 1);
EC_WRITE_U8(fsm->datagram->data, 0x54); // port 0 auto, 1-3 auto-close
fsm->datagram->device_index = fsm->dev_idx;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_loop_control;
}
/*****************************************************************************/
/** Master state: LOOP CONTROL.
*/
void ec_fsm_master_state_loop_control(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_MASTER_ERR(master, "Failed to receive loop control"
" datagram on %s link: ",
ec_device_names[fsm->dev_idx != 0]);
ec_datagram_print_state(datagram);
}
ec_fsm_master_enter_dc_measure_delays(fsm);
}
#endif
/*****************************************************************************/
/** Master state: CLEAR ADDRESSES.
*/
void ec_fsm_master_state_clear_addresses(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_MASTER_ERR(master, "Failed to receive address"
" clearing datagram on %s link: ",
ec_device_names[fsm->dev_idx != 0]);
ec_datagram_print_state(datagram);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
}
if (datagram->working_counter != fsm->slaves_responding[fsm->dev_idx]) {
EC_MASTER_WARN(master, "Failed to clear station addresses on %s link:"
" Cleared %u of %u",
ec_device_names[fsm->dev_idx != 0], datagram->working_counter,
fsm->slaves_responding[fsm->dev_idx]);
}
#ifdef EC_LOOP_CONTROL
ec_fsm_master_enter_loop_control(fsm);
#else
ec_fsm_master_enter_dc_measure_delays(fsm);
#endif
}
/*****************************************************************************/
/** Master state: DC MEASURE DELAYS.
*/
void ec_fsm_master_state_dc_measure_delays(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
return;
}
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_MASTER_ERR(master, "Failed to receive delay measuring datagram"
" on %s link: ", ec_device_names[fsm->dev_idx != 0]);
ec_datagram_print_state(datagram);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
}
EC_MASTER_DBG(master, 1, "%u slaves responded to delay measuring"
" on %s link.\n",
datagram->working_counter, ec_device_names[fsm->dev_idx != 0]);
do {
fsm->dev_idx++;
} while (fsm->dev_idx < ec_master_num_devices(master) &&
!fsm->slaves_responding[fsm->dev_idx]);
if (fsm->dev_idx < ec_master_num_devices(master)) {
ec_fsm_master_enter_clear_addresses(fsm);
return;
}
EC_MASTER_INFO(master, "Scanning bus.\n");
// begin scanning of slaves
fsm->slave = master->slaves;
EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
fsm->slave->ring_position,
ec_device_names[fsm->slave->device_index != 0]);
fsm->state = ec_fsm_master_state_scan_slave;
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fsm->datagram->device_index = fsm->slave->device_index;
}
/*****************************************************************************/
/** Master state: SCAN SLAVE.
*
* Executes the sub-statemachine for the scanning of a slave.
*/
void ec_fsm_master_state_scan_slave(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
#ifdef EC_EOE
ec_slave_t *slave = fsm->slave;
#endif
if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) {
return;
}
#ifdef EC_EOE
if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
// create EoE handler for this slave
ec_eoe_t *eoe;
if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_SLAVE_ERR(slave, "Failed to allocate EoE handler memory!\n");
} else if (ec_eoe_init(eoe, slave)) {
EC_SLAVE_ERR(slave, "Failed to init EoE handler!\n");
kfree(eoe);
} else {
list_add_tail(&eoe->list, &master->eoe_handlers);
}
}
#endif
// another slave to fetch?
fsm->slave++;
if (fsm->slave < master->slaves + master->slave_count) {
EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
fsm->slave->ring_position,
ec_device_names[fsm->slave->device_index != 0]);
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fsm->datagram->device_index = fsm->slave->device_index;
return;
}
EC_MASTER_INFO(master, "Bus scanning completed in %lu ms.\n",
(jiffies - fsm->scan_jiffies) * 1000 / HZ);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
ec_master_calc_dc(master);
// Attach slave configurations
ec_master_attach_slave_configs(master);
#ifdef EC_EOE
// check if EoE processing has to be started
ec_master_eoe_start(master);
#endif
if (master->slave_count) {
master->config_changed = 0;
fsm->slave = master->slaves; // begin with first slave
ec_fsm_master_enter_write_system_times(fsm);
} else {
ec_fsm_master_restart(fsm);
}
}
/*****************************************************************************/
/** Master state: CONFIGURE SLAVE.
*
* Starts configuring a slave.
*/
void ec_fsm_master_state_configure_slave(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) {
return;
}
fsm->slave->force_config = 0;
// configuration finished
master->config_busy = 0;
wake_up_interruptible(&master->config_queue);
if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
// TODO: mark slave_config as failed.
}
fsm->idle = 1;
#ifdef EC_LOOP_CONTROL
// read DL status
ec_fsm_master_action_read_dl_status(fsm);
#else
// process next slave
ec_fsm_master_action_next_slave_state(fsm);
#endif
}
/*****************************************************************************/
/** Start writing DC system times.
*/
void ec_fsm_master_enter_write_system_times(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
if (master->has_app_time) {
while (fsm->slave < master->slaves + master->slave_count) {
if (!fsm->slave->base_dc_supported
|| !fsm->slave->has_dc_system_time) {
fsm->slave++;
continue;
}
EC_SLAVE_DBG(fsm->slave, 1, "Checking system time offset.\n");
// read DC system time (0x0910, 64 bit)
// gap (64 bit)
// and time offset (0x0920, 64 bit)
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0910, 24);
fsm->datagram->device_index = fsm->slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_dc_read_offset;
return;
}
} else {
if (master->active) {
EC_MASTER_WARN(master, "No app_time received up to now,"
" but master already active.\n");
} else {
EC_MASTER_DBG(master, 1, "No app_time received up to now.\n");
}
}
// scanning and setting system times complete
ec_master_request_op(master);
ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
/** Configure 32 bit time offset.
*
* \return New offset.
*/
u64 ec_fsm_master_dc_offset32(
ec_fsm_master_t *fsm, /**< Master state machine. */
u64 system_time, /**< System time register. */
u64 old_offset, /**< Time offset register. */
unsigned long jiffies_since_read /**< Jiffies for correction. */
)
{
ec_slave_t *slave = fsm->slave;
u32 correction, system_time32, old_offset32, new_offset;
s32 time_diff;
system_time32 = (u32) system_time;
old_offset32 = (u32) old_offset;
// correct read system time by elapsed time since read operation
correction = jiffies_since_read * 1000 / HZ * 1000000;
system_time32 += correction;
time_diff = (u32) slave->master->app_time - system_time32;
EC_SLAVE_DBG(slave, 1, "DC 32 bit system time offset calculation:"
" system_time=%u (corrected with %u),"
" app_time=%llu, diff=%i\n",
system_time32, correction,
slave->master->app_time, time_diff);
if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
new_offset = time_diff + old_offset32;
EC_SLAVE_DBG(slave, 1, "Setting time offset to %u (was %u)\n",
new_offset, old_offset32);
return (u64) new_offset;
} else {
EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n");
return old_offset;
}
}
/*****************************************************************************/
/** Configure 64 bit time offset.
*
* \return New offset.
*/
u64 ec_fsm_master_dc_offset64(
ec_fsm_master_t *fsm, /**< Master state machine. */
u64 system_time, /**< System time register. */
u64 old_offset, /**< Time offset register. */
unsigned long jiffies_since_read /**< Jiffies for correction. */
)
{
ec_slave_t *slave = fsm->slave;
u64 new_offset, correction;
s64 time_diff;
// correct read system time by elapsed time since read operation
correction = (u64) (jiffies_since_read * 1000 / HZ) * 1000000;
system_time += correction;
time_diff = fsm->slave->master->app_time - system_time;
EC_SLAVE_DBG(slave, 1, "DC 64 bit system time offset calculation:"
" system_time=%llu (corrected with %llu),"
" app_time=%llu, diff=%lli\n",
system_time, correction,
slave->master->app_time, time_diff);
if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
new_offset = time_diff + old_offset;
EC_SLAVE_DBG(slave, 1, "Setting time offset to %llu (was %llu)\n",
new_offset, old_offset);
} else {
new_offset = old_offset;
EC_SLAVE_DBG(slave, 1, "Not touching time offset.\n");
}
return new_offset;
}
/*****************************************************************************/
/** Master state: DC READ OFFSET.
*/
void ec_fsm_master_state_dc_read_offset(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
u64 system_time, old_offset, new_offset;
unsigned long jiffies_since_read;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_SLAVE_ERR(slave, "Failed to receive DC times datagram: ");
ec_datagram_print_state(datagram);
fsm->slave++;
ec_fsm_master_enter_write_system_times(fsm);
return;
}
if (datagram->working_counter != 1) {
EC_SLAVE_WARN(slave, "Failed to get DC times: ");
ec_datagram_print_wc_error(datagram);
fsm->slave++;
ec_fsm_master_enter_write_system_times(fsm);
return;
}
system_time = EC_READ_U64(datagram->data); // 0x0910
old_offset = EC_READ_U64(datagram->data + 16); // 0x0920
jiffies_since_read = jiffies - datagram->jiffies_sent;
if (slave->base_dc_range == EC_DC_32) {
new_offset = ec_fsm_master_dc_offset32(fsm,
system_time, old_offset, jiffies_since_read);
} else {
new_offset = ec_fsm_master_dc_offset64(fsm,
system_time, old_offset, jiffies_since_read);
}
// 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->datagram->device_index = slave->device_index;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_dc_write_offset;
}
/*****************************************************************************/
/** Master state: DC WRITE OFFSET.
*/
void ec_fsm_master_state_dc_write_offset(
ec_fsm_master_t *fsm /**< Master 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_ERR(slave,
"Failed to receive DC system time offset datagram: ");
ec_datagram_print_state(datagram);
fsm->slave++;
ec_fsm_master_enter_write_system_times(fsm);
return;
}
if (datagram->working_counter != 1) {
EC_SLAVE_ERR(slave, "Failed to set DC system time offset: ");
ec_datagram_print_wc_error(datagram);
fsm->slave++;
ec_fsm_master_enter_write_system_times(fsm);
return;
}
fsm->slave++;
ec_fsm_master_enter_write_system_times(fsm);
}
/*****************************************************************************/
/** Master state: WRITE SII.
*/
void ec_fsm_master_state_write_sii(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request = fsm->sii_request;
ec_slave_t *slave = request->slave;
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
EC_SLAVE_ERR(slave, "Failed to write SII data.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&master->request_queue);
ec_fsm_master_restart(fsm);
return;
}
fsm->sii_index++;
if (fsm->sii_index < request->nwords) {
ec_fsm_sii_write(&fsm->fsm_sii, slave,
request->offset + fsm->sii_index,
request->words + fsm->sii_index,
EC_FSM_SII_USE_CONFIGURED_ADDRESS);
ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
return;
}
// finished writing SII
EC_SLAVE_DBG(slave, 1, "Finished writing %zu words of SII data.\n",
request->nwords);
if (request->offset <= 4 && request->offset + request->nwords > 4) {
// alias was written
slave->sii.alias = EC_READ_U16(request->words + 4);
// TODO: read alias from register 0x0012
slave->effective_alias = slave->sii.alias;
}
// TODO: Evaluate other SII contents!
request->state = EC_INT_REQUEST_SUCCESS;
wake_up_all(&master->request_queue);
// check for another SII write request
if (ec_fsm_master_action_process_sii(fsm))
return; // processing another request
ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
/** Master state: SDO DICTIONARY.
*/
void ec_fsm_master_state_sdo_dictionary(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = fsm->master;
if (ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram)) {
return;
}
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
ec_fsm_master_restart(fsm);
return;
}
// SDO dictionary fetching finished
if (master->debug_level) {
unsigned int sdo_count, entry_count;
ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
EC_SLAVE_DBG(slave, 1, "Fetched %u SDOs and %u entries.\n",
sdo_count, entry_count);
}
// attach pdo names from dictionary
ec_slave_attach_pdo_names(slave);
ec_fsm_master_restart(fsm);
}
/*****************************************************************************/
/** Master state: SDO REQUEST.
*/
void ec_fsm_master_state_sdo_request(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_sdo_request_t *request = fsm->sdo_request;
if (!request) {
// configuration was cleared in the meantime
ec_fsm_master_restart(fsm);
return;
}
if (ec_fsm_coe_exec(&fsm->fsm_coe, fsm->datagram)) {
return;
}
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
EC_SLAVE_DBG(fsm->slave, 1,
"Failed to process internal SDO request.\n");
request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&fsm->master->request_queue);
ec_fsm_master_restart(fsm);
return;
}
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up_all(&fsm->master->request_queue);
EC_SLAVE_DBG(fsm->slave, 1, "Finished internal SDO request.\n");
// check for another SDO request
if (ec_fsm_master_action_process_sdo(fsm)) {
return; // processing another request
}
ec_fsm_master_restart(fsm);
}
/*****************************************************************************/