Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
/******************************************************************************
*
* $Id$
*
* 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;
}
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);
}
/*****************************************************************************/