fp@238: /****************************************************************************** fp@238: * fp@238: * $Id$ fp@238: * fp@238: * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH fp@238: * fp@238: * This file is part of the IgH EtherCAT Master. fp@238: * fp@238: * The IgH EtherCAT Master is free software; you can redistribute it fp@238: * and/or modify it under the terms of the GNU General Public License fp@246: * as published by the Free Software Foundation; either version 2 of the fp@246: * License, or (at your option) any later version. fp@238: * fp@238: * The IgH EtherCAT Master is distributed in the hope that it will be fp@238: * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of fp@238: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the fp@238: * GNU General Public License for more details. fp@238: * fp@238: * You should have received a copy of the GNU General Public License fp@238: * along with the IgH EtherCAT Master; if not, write to the Free Software fp@238: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@238: * fp@246: * The right to use EtherCAT Technology is granted and comes free of fp@246: * charge under condition of compatibility of product made by fp@246: * Licensee. People intending to distribute/sell products based on the fp@246: * code, have to sign an agreement to guarantee that products using fp@246: * software based on IgH EtherCAT master stay compatible with the actual fp@246: * EtherCAT specification (which are released themselves as an open fp@246: * standard) as the (only) precondition to have the right to use EtherCAT fp@246: * Technology, IP and trade marks. fp@246: * fp@238: *****************************************************************************/ fp@238: fp@238: /** fp@238: \file fp@238: EtherCAT finite state machines. fp@238: */ fp@238: fp@238: /*****************************************************************************/ fp@238: fp@238: #include "globals.h" fp@238: #include "master.h" fp@329: #include "mailbox.h" fp@528: #include "fsm_master.h" fp@528: fp@528: /*****************************************************************************/ fp@528: fp@528: void ec_fsm_master_state_start(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_broadcast(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_read_states(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_validate_product(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_sdodict(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_end(ec_fsm_master_t *); fp@528: void ec_fsm_master_state_error(ec_fsm_master_t *); fp@251: fp@238: /*****************************************************************************/ fp@238: fp@260: /** fp@260: Constructor. fp@260: */ fp@260: fp@528: void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */ fp@528: ec_master_t *master, /**< EtherCAT master */ fp@528: ec_datagram_t *datagram /**< datagram object to use */ fp@528: ) fp@238: { fp@238: fsm->master = master; fp@528: fsm->datagram = datagram; fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->slaves_responding = 0; fp@553: fsm->topology_change_pending = 0; fp@528: fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; fp@528: fsm->validate = 0; fp@238: fp@436: // init sub-state-machines fp@528: ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram); fp@528: ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); fp@528: ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); fp@528: ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); fp@238: } fp@238: fp@238: /*****************************************************************************/ fp@238: fp@260: /** fp@260: Destructor. fp@260: */ fp@260: fp@528: void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */) fp@238: { fp@436: // clear sub-state machines fp@528: ec_fsm_slave_clear(&fsm->fsm_slave); fp@433: ec_fsm_sii_clear(&fsm->fsm_sii); fp@434: ec_fsm_change_clear(&fsm->fsm_change); fp@436: ec_fsm_coe_clear(&fsm->fsm_coe); fp@238: } fp@238: fp@238: /*****************************************************************************/ fp@238: fp@260: /** fp@260: Executes the current state of the state machine. fp@505: If the state machine's datagram is not sent or received yet, the execution fp@505: of the state machine is delayed to the next cycle. fp@435: \return false, if state machine has terminated fp@435: */ fp@435: fp@528: int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: if (fsm->datagram->state == EC_DATAGRAM_SENT fp@528: || fsm->datagram->state == EC_DATAGRAM_QUEUED) { fp@505: // datagram was not sent or received yet. fp@528: return ec_fsm_master_running(fsm); fp@528: } fp@528: fp@528: fsm->state(fsm); fp@528: return ec_fsm_master_running(fsm); fp@456: } fp@456: fp@456: /*****************************************************************************/ fp@456: fp@456: /** fp@456: \return false, if state machine has terminated fp@456: */ fp@456: fp@528: int ec_fsm_master_running(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: return fsm->state != ec_fsm_master_state_end fp@528: && fsm->state != ec_fsm_master_state_error; fp@446: } fp@446: fp@446: /*****************************************************************************/ fp@446: fp@446: /** fp@446: \return true, if the master state machine terminated gracefully fp@446: */ fp@446: fp@528: int ec_fsm_master_success(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: return fsm->state == ec_fsm_master_state_end; fp@325: } fp@325: fp@238: /****************************************************************************** fp@446: * operation/idle state machine fp@238: *****************************************************************************/ fp@238: fp@238: /** fp@260: Master state: START. fp@238: Starts with getting slave count and slave states. fp@238: */ fp@238: fp@528: void ec_fsm_master_state_start(ec_fsm_master_t *fsm) fp@528: { fp@528: ec_datagram_brd(fsm->datagram, 0x0130, 2); fp@528: ec_master_queue_datagram(fsm->master, fsm->datagram); fp@528: fsm->state = ec_fsm_master_state_broadcast; fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@260: Master state: BROADCAST. fp@260: Processes the broadcast read slave count and slaves states. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: ec_datagram_t *datagram = fsm->datagram; fp@553: unsigned int i; fp@238: ec_slave_t *slave; fp@260: ec_master_t *master = fsm->master; fp@238: fp@505: if (datagram->state == EC_DATAGRAM_TIMED_OUT) { fp@505: // always retry fp@528: ec_master_queue_datagram(fsm->master, fsm->datagram); fp@505: return; fp@505: } fp@505: fp@505: if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR fp@505: // link is down fp@528: fsm->slaves_responding = 0; fp@505: list_for_each_entry(slave, &master->slaves, list) { fp@505: slave->online = 0; fp@446: } fp@528: fsm->state = ec_fsm_master_state_error; fp@238: return; fp@238: } fp@238: fp@553: // bus topology change? fp@553: if (datagram->working_counter != fsm->slaves_responding) { fp@553: fsm->topology_change_pending = 1; fp@553: fsm->slaves_responding = datagram->working_counter; fp@553: fp@262: EC_INFO("%i slave%s responding.\n", fp@528: fsm->slaves_responding, fp@528: fsm->slaves_responding == 1 ? "" : "s"); fp@262: fp@325: if (master->mode == EC_MASTER_MODE_OPERATION) { fp@528: if (fsm->slaves_responding == master->slave_count) { fp@528: fsm->validate = 1; // start validation later fp@262: } fp@262: else { fp@262: EC_WARN("Invalid slave count. Bus in tainted state.\n"); fp@262: } fp@260: } fp@260: } fp@260: fp@553: // slave states changed? fp@553: if (EC_READ_U8(datagram->data) != fsm->slave_states) { fp@403: char states[EC_STATE_STRING_SIZE]; fp@553: fsm->slave_states = EC_READ_U8(datagram->data); fp@528: ec_state_string(fsm->slave_states, states); fp@325: EC_INFO("Slave states: %s.\n", states); fp@260: } fp@260: fp@306: // topology change in idle mode: clear all slaves and scan the bus fp@553: if (fsm->topology_change_pending && fp@553: master->mode == EC_MASTER_MODE_IDLE) { fp@553: fsm->topology_change_pending = 0; fp@260: fp@260: ec_master_eoe_stop(master); fp@448: ec_master_destroy_slaves(master); fp@260: fp@325: master->slave_count = datagram->working_counter; fp@325: fp@325: if (!master->slave_count) { fp@260: // no slaves present -> finish state machine. fp@528: fsm->state = ec_fsm_master_state_end; fp@251: return; fp@251: } fp@251: fp@260: // init slaves fp@325: for (i = 0; i < master->slave_count; i++) { fp@260: if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), fp@260: GFP_ATOMIC))) { fp@260: EC_ERR("Failed to allocate slave %i!\n", i); fp@448: ec_master_destroy_slaves(master); fp@528: fsm->state = ec_fsm_master_state_error; fp@260: return; fp@260: } fp@260: fp@260: if (ec_slave_init(slave, master, i, i + 1)) { fp@325: // freeing of "slave" already done fp@448: ec_master_destroy_slaves(master); fp@528: fsm->state = ec_fsm_master_state_error; fp@260: return; fp@260: } fp@260: fp@260: list_add_tail(&slave->list, &master->slaves); fp@260: } fp@260: fp@446: EC_INFO("Scanning bus.\n"); fp@446: fp@260: // begin scanning of slaves fp@260: fsm->slave = list_entry(master->slaves.next, ec_slave_t, list); fp@530: ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave); fp@528: ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately fp@528: fsm->state = ec_fsm_master_state_scan_slaves; fp@260: return; fp@260: } fp@260: fp@260: // fetch state from each slave fp@260: fsm->slave = list_entry(master->slaves.next, ec_slave_t, list); fp@528: ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2); fp@528: ec_master_queue_datagram(master, fsm->datagram); fp@505: fsm->retries = EC_FSM_RETRIES; fp@528: fsm->state = ec_fsm_master_state_read_states; fp@304: } fp@304: fp@304: /*****************************************************************************/ fp@304: fp@304: /** fp@304: Master action: PROC_STATES. fp@304: Processes the slave states. fp@304: */ fp@304: fp@528: void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm fp@528: /**< master state machine */ fp@304: ) fp@304: { fp@304: ec_master_t *master = fsm->master; fp@304: ec_slave_t *slave; fp@403: char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE]; fp@304: fp@304: // check if any slaves are not in the state, they're supposed to be fp@304: list_for_each_entry(slave, &master->slaves, list) { fp@421: if (slave->error_flag fp@421: || !slave->online fp@421: || slave->requested_state == EC_SLAVE_STATE_UNKNOWN fp@523: || (slave->current_state == slave->requested_state fp@523: && slave->self_configured)) continue; fp@421: fp@446: if (master->debug_level) { fp@446: ec_state_string(slave->current_state, old_state); fp@523: if (slave->current_state != slave->requested_state) { fp@523: ec_state_string(slave->requested_state, new_state); fp@523: EC_DBG("Changing state of slave %i (%s -> %s).\n", fp@523: slave->ring_position, old_state, new_state); fp@523: } fp@523: else if (!slave->self_configured) { fp@523: EC_DBG("Reconfiguring slave %i (%s).\n", fp@523: slave->ring_position, old_state); fp@523: } fp@421: } fp@304: fp@304: fsm->slave = slave; fp@528: ec_fsm_slave_start_conf(&fsm->fsm_slave, slave); fp@528: ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately fp@528: fsm->state = ec_fsm_master_state_configure_slave; fp@304: return; fp@304: } fp@304: fp@325: // Check, if EoE processing has to be started fp@325: ec_master_eoe_start(master); fp@325: fp@442: if (master->mode == EC_MASTER_MODE_IDLE) { fp@442: fp@442: // Check for a pending SDO request fp@442: if (master->sdo_seq_master != master->sdo_seq_user) { fp@442: if (master->debug_level) fp@442: EC_DBG("Processing SDO request...\n"); fp@442: slave = master->sdo_request->sdo->slave; fp@442: if (slave->current_state == EC_SLAVE_STATE_INIT fp@475: || !slave->online) { fp@442: EC_ERR("Failed to process SDO request, slave %i not ready.\n", fp@442: slave->ring_position); fp@442: master->sdo_request->return_code = -1; fp@442: master->sdo_seq_master++; fp@442: } fp@442: else { fp@442: // start uploading SDO fp@442: fsm->slave = slave; fp@528: fsm->state = ec_fsm_master_state_sdo_request; fp@442: fsm->sdo_request = master->sdo_request; fp@442: ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request); fp@442: ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately fp@442: return; fp@442: } fp@442: } fp@442: fp@442: // check, if slaves have an SDO dictionary to read out. fp@442: list_for_each_entry(slave, &master->slaves, list) { fp@442: if (!(slave->sii_mailbox_protocols & EC_MBOX_COE) fp@442: || slave->sdo_dictionary_fetched fp@442: || slave->current_state == EC_SLAVE_STATE_INIT fp@442: || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ fp@442: || !slave->online fp@442: || slave->error_flag) continue; fp@442: fp@442: if (master->debug_level) { fp@442: EC_DBG("Fetching SDO dictionary from slave %i.\n", fp@442: slave->ring_position); fp@442: } fp@442: fp@442: slave->sdo_dictionary_fetched = 1; fp@442: fp@442: // start fetching SDO dictionary fp@441: fsm->slave = slave; fp@528: fsm->state = ec_fsm_master_state_sdodict; fp@442: ec_fsm_coe_dictionary(&fsm->fsm_coe, slave); fp@441: ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately fp@441: return; fp@441: } fp@442: fp@442: // check for pending EEPROM write operations. fp@304: list_for_each_entry(slave, &master->slaves, list) { fp@304: if (!slave->new_eeprom_data) continue; fp@304: fp@304: if (!slave->online || slave->error_flag) { fp@304: kfree(slave->new_eeprom_data); fp@304: slave->new_eeprom_data = NULL; fp@304: EC_ERR("Discarding EEPROM data, slave %i not ready.\n", fp@304: slave->ring_position); fp@304: continue; fp@304: } fp@304: fp@304: // found pending EEPROM write operation. execute it! fp@304: EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position); fp@470: fsm->slave = slave; fp@304: fsm->sii_offset = 0x0000; fp@433: ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset, fp@433: slave->new_eeprom_data, EC_FSM_SII_NODE); fp@528: fsm->state = ec_fsm_master_state_write_eeprom; fp@528: fsm->state(fsm); // execute immediately fp@304: return; fp@304: } fp@304: } fp@304: fp@528: fsm->state = ec_fsm_master_state_end; fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@260: Master action: Get state of next slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm fp@528: /**< master state machine */) fp@260: { fp@260: ec_master_t *master = fsm->master; fp@260: ec_slave_t *slave = fsm->slave; fp@260: fp@304: // is there another slave to query? fp@292: if (slave->list.next != &master->slaves) { fp@292: // process next slave fp@292: fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list); fp@528: ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, fp@293: 0x0130, 2); fp@528: ec_master_queue_datagram(master, fsm->datagram); fp@505: fsm->retries = EC_FSM_RETRIES; fp@528: fsm->state = ec_fsm_master_state_read_states; fp@304: return; fp@304: } fp@304: fp@304: // all slave states read fp@304: fp@304: // check, if a bus validation has to be done fp@528: if (fsm->validate) { fp@528: fsm->validate = 0; fp@292: list_for_each_entry(slave, &master->slaves, list) { fp@292: if (slave->online) continue; fp@292: fp@292: // At least one slave is offline. validate! fp@292: EC_INFO("Validating bus.\n"); fp@292: fsm->slave = list_entry(master->slaves.next, ec_slave_t, list); fp@528: fsm->state = ec_fsm_master_state_validate_vendor; fp@433: ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION); fp@433: ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately fp@292: return; fp@251: } fp@292: } fp@292: fp@304: ec_fsm_master_action_process_states(fsm); fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@409: Master state: READ STATES. fp@260: Fetches the AL- and online state of a slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */) fp@260: { fp@260: ec_slave_t *slave = fsm->slave; fp@528: ec_datagram_t *datagram = fsm->datagram; fp@260: uint8_t new_state; fp@260: fp@505: if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) { fp@528: ec_master_queue_datagram(fsm->master, fsm->datagram); fp@505: return; fp@505: } fp@505: fp@325: if (datagram->state != EC_DATAGRAM_RECEIVED) { fp@594: EC_ERR("Failed to receive AL state datagram for slave %i" fp@594: " (datagram state %i)\n", slave->ring_position, datagram->state); fp@528: fsm->state = ec_fsm_master_state_error; fp@238: return; fp@238: } fp@238: fp@260: // did the slave not respond to its station address? fp@293: if (datagram->working_counter != 1) { fp@260: if (slave->online) { fp@260: slave->online = 0; fp@461: if (slave->master->debug_level) fp@459: EC_DBG("Slave %i: offline.\n", slave->ring_position); fp@260: } fp@260: ec_fsm_master_action_next_slave_state(fsm); fp@260: return; fp@260: } fp@260: fp@260: // slave responded fp@293: new_state = EC_READ_U8(datagram->data); fp@260: if (!slave->online) { // slave was offline before fp@260: slave->online = 1; fp@291: slave->error_flag = 0; // clear error flag fp@260: slave->current_state = new_state; fp@461: if (slave->master->debug_level) { fp@459: char cur_state[EC_STATE_STRING_SIZE]; fp@459: ec_state_string(slave->current_state, cur_state); fp@459: EC_DBG("Slave %i: online (%s).\n", fp@459: slave->ring_position, cur_state); fp@459: } fp@260: } fp@260: else if (new_state != slave->current_state) { fp@461: if (slave->master->debug_level) { fp@459: char old_state[EC_STATE_STRING_SIZE], fp@459: cur_state[EC_STATE_STRING_SIZE]; fp@459: ec_state_string(slave->current_state, old_state); fp@459: ec_state_string(new_state, cur_state); fp@459: EC_DBG("Slave %i: %s -> %s.\n", fp@459: slave->ring_position, old_state, cur_state); fp@459: } fp@260: slave->current_state = new_state; fp@260: } fp@260: fp@454: // check, if new slave state has to be acknowledged fp@454: if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) { fp@454: ec_fsm_change_ack(&fsm->fsm_change, slave); fp@454: ec_fsm_change_exec(&fsm->fsm_change); fp@528: fsm->state = ec_fsm_master_state_acknowledge; fp@454: return; fp@454: } fp@454: fp@454: ec_fsm_master_action_next_slave_state(fsm); fp@454: } fp@454: fp@454: /*****************************************************************************/ fp@454: fp@454: /** fp@454: Master state: ACKNOWLEDGE fp@454: */ fp@454: fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */) fp@454: { fp@454: ec_slave_t *slave = fsm->slave; fp@454: fp@454: if (ec_fsm_change_exec(&fsm->fsm_change)) return; fp@454: fp@454: if (!ec_fsm_change_success(&fsm->fsm_change)) { fp@454: fsm->slave->error_flag = 1; fp@454: EC_ERR("Failed to acknowledge state change on slave %i.\n", fp@454: slave->ring_position); fp@528: fsm->state = ec_fsm_master_state_error; fp@454: return; fp@454: } fp@454: fp@260: ec_fsm_master_action_next_slave_state(fsm); fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@260: Master state: VALIDATE_VENDOR. fp@260: Validates the vendor ID of a slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */) fp@260: { fp@260: ec_slave_t *slave = fsm->slave; fp@260: fp@435: if (ec_fsm_sii_exec(&fsm->fsm_sii)) return; fp@433: fp@433: if (!ec_fsm_sii_success(&fsm->fsm_sii)) { fp@292: fsm->slave->error_flag = 1; fp@260: EC_ERR("Failed to validate vendor ID of slave %i.\n", fp@260: slave->ring_position); fp@528: fsm->state = ec_fsm_master_state_error; fp@238: return; fp@238: } fp@238: fp@433: if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) { fp@446: EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position); fp@528: fsm->state = ec_fsm_master_state_error; fp@238: return; fp@238: } fp@238: fp@260: // vendor ID is ok. check product code. fp@528: fsm->state = ec_fsm_master_state_validate_product; fp@433: ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION); fp@433: ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@304: Master action: ADDRESS. fp@260: Looks for slave, that have lost their configuration and writes fp@260: their station address, so that they can be reconfigured later. fp@260: */ fp@260: fp@528: void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: ec_datagram_t *datagram = fsm->datagram; fp@260: fp@260: while (fsm->slave->online) { fp@260: if (fsm->slave->list.next == &fsm->master->slaves) { // last slave? fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->state(fsm); // execute immediately fp@238: return; fp@238: } fp@260: // check next slave fp@260: fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list); fp@260: } fp@260: fp@446: if (fsm->master->debug_level) fp@446: EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position); fp@260: fp@260: // write station address fp@293: ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2); fp@293: EC_WRITE_U16(datagram->data, fsm->slave->station_address); fp@293: ec_master_queue_datagram(fsm->master, datagram); fp@505: fsm->retries = EC_FSM_RETRIES; fp@528: fsm->state = ec_fsm_master_state_rewrite_addresses; fp@304: } fp@304: fp@304: /*****************************************************************************/ fp@304: fp@304: /** fp@304: Master state: VALIDATE_PRODUCT. fp@304: Validates the product ID of a slave. fp@304: */ fp@304: fp@528: void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */) fp@304: { fp@304: ec_slave_t *slave = fsm->slave; fp@304: fp@435: if (ec_fsm_sii_exec(&fsm->fsm_sii)) return; fp@433: fp@433: if (!ec_fsm_sii_success(&fsm->fsm_sii)) { fp@304: fsm->slave->error_flag = 1; fp@304: EC_ERR("Failed to validate product code of slave %i.\n", fp@304: slave->ring_position); fp@528: fsm->state = ec_fsm_master_state_error; fp@304: return; fp@304: } fp@304: fp@433: if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) { fp@304: EC_ERR("Slave %i: invalid product code!\n", slave->ring_position); fp@304: EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code, fp@433: EC_READ_U32(fsm->fsm_sii.value)); fp@528: fsm->state = ec_fsm_master_state_error; fp@304: return; fp@304: } fp@304: fp@304: // have all states been validated? fp@304: if (slave->list.next == &fsm->master->slaves) { fp@304: fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list); fp@304: // start writing addresses to offline slaves fp@304: ec_fsm_master_action_addresses(fsm); fp@304: return; fp@304: } fp@304: fp@304: // validate next slave fp@304: fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list); fp@528: fsm->state = ec_fsm_master_state_validate_vendor; fp@433: ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION); fp@433: ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately fp@260: } fp@260: fp@260: /*****************************************************************************/ fp@260: fp@260: /** fp@409: Master state: REWRITE ADDRESS. fp@260: Checks, if the new station address has been written to the slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm fp@528: /**< master state machine */ fp@304: ) fp@260: { fp@260: ec_slave_t *slave = fsm->slave; fp@528: ec_datagram_t *datagram = fsm->datagram; fp@293: fp@505: if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) { fp@528: ec_master_queue_datagram(fsm->master, fsm->datagram); fp@505: return; fp@505: } fp@505: fp@505: if (datagram->state != EC_DATAGRAM_RECEIVED) { fp@594: EC_ERR("Failed to receive address datagram for slave %i" fp@594: " (datagram state %i).\n", fp@594: slave->ring_position, datagram->state); fp@528: fsm->state = ec_fsm_master_state_error; fp@505: return; fp@505: } fp@505: fp@505: if (datagram->working_counter != 1) { fp@505: EC_ERR("Failed to write station address - slave %i did not respond.\n", fp@505: slave->ring_position); fp@528: fsm->state = ec_fsm_master_state_error; fp@505: return; fp@260: } fp@260: fp@260: if (fsm->slave->list.next == &fsm->master->slaves) { // last slave? fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->state(fsm); // execute immediately fp@260: return; fp@260: } fp@260: fp@260: // check next slave fp@260: fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list); fp@304: // Write new station address to slave fp@304: ec_fsm_master_action_addresses(fsm); fp@238: } fp@238: fp@238: /*****************************************************************************/ fp@238: fp@238: /** fp@409: Master state: SCAN SLAVES. fp@260: Executes the sub-statemachine for the scanning of a slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *fsm /**< master state machine */) fp@238: { fp@238: ec_master_t *master = fsm->master; fp@538: ec_slave_t *slave; fp@325: fp@528: if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine fp@528: return; fp@325: fp@325: // another slave to fetch? fp@538: if (fsm->slave->list.next != &master->slaves) { fp@325: fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list); fp@538: ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave); fp@528: ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately fp@325: return; fp@325: } fp@325: fp@325: EC_INFO("Bus scanning completed.\n"); fp@325: fp@325: ec_master_calc_addressing(master); fp@325: fp@428: // set initial states of all slaves to PREOP to make mailbox fp@428: // communication possible fp@325: list_for_each_entry(slave, &master->slaves, list) { fp@446: ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); fp@446: } fp@446: fp@528: fsm->state = ec_fsm_master_state_end; fp@238: } fp@238: fp@238: /*****************************************************************************/ fp@238: fp@238: /** fp@409: Master state: CONFIGURE SLAVES. fp@260: Starts configuring a slave. fp@260: */ fp@260: fp@528: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm fp@528: /**< master state machine */ fp@304: ) fp@260: { fp@528: if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine fp@528: return; fp@304: fp@304: ec_fsm_master_action_process_states(fsm); fp@238: } fp@238: fp@269: /*****************************************************************************/ fp@269: fp@269: /** fp@409: Master state: WRITE EEPROM. fp@269: */ fp@269: fp@528: void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *fsm /**< master state machine */) fp@269: { fp@269: ec_slave_t *slave = fsm->slave; fp@269: fp@435: if (ec_fsm_sii_exec(&fsm->fsm_sii)) return; fp@433: fp@433: if (!ec_fsm_sii_success(&fsm->fsm_sii)) { fp@292: fsm->slave->error_flag = 1; fp@269: EC_ERR("Failed to write EEPROM contents to slave %i.\n", fp@269: slave->ring_position); fp@269: kfree(slave->new_eeprom_data); fp@269: slave->new_eeprom_data = NULL; fp@528: fsm->state = ec_fsm_master_state_error; fp@269: return; fp@269: } fp@269: fp@269: fsm->sii_offset++; fp@269: if (fsm->sii_offset < slave->new_eeprom_size) { fp@433: ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset, fp@433: slave->new_eeprom_data + fsm->sii_offset, fp@433: EC_FSM_SII_NODE); fp@433: ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately fp@269: return; fp@269: } fp@269: fp@269: // finished writing EEPROM fp@269: EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position); fp@269: kfree(slave->new_eeprom_data); fp@269: slave->new_eeprom_data = NULL; fp@269: fp@325: // TODO: Evaluate new EEPROM contents! fp@325: fp@269: // restart master state machine. fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->state(fsm); // execute immediately fp@419: } fp@419: fp@419: /*****************************************************************************/ fp@419: fp@419: /** fp@419: Master state: SDODICT. fp@419: */ fp@419: fp@528: void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */) fp@419: { fp@419: ec_slave_t *slave = fsm->slave; fp@419: ec_master_t *master = fsm->master; fp@419: fp@436: if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; fp@436: fp@436: if (!ec_fsm_coe_success(&fsm->fsm_coe)) { fp@528: fsm->state = ec_fsm_master_state_error; fp@419: return; fp@419: } fp@419: fp@419: // SDO dictionary fetching finished fp@419: fp@419: if (master->debug_level) { fp@423: unsigned int sdo_count, entry_count; fp@423: ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count); fp@423: EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n", fp@423: sdo_count, entry_count, slave->ring_position); fp@419: } fp@419: fp@419: // restart master state machine. fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->state(fsm); // execute immediately fp@269: } fp@269: fp@430: /*****************************************************************************/ fp@430: fp@430: /** fp@430: Master state: SDO REQUEST. fp@430: */ fp@430: fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */) fp@430: { fp@430: ec_master_t *master = fsm->master; fp@436: ec_sdo_request_t *request = fsm->sdo_request; fp@436: fp@436: if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; fp@436: fp@436: if (!ec_fsm_coe_success(&fsm->fsm_coe)) { fp@430: request->return_code = -1; fp@441: master->sdo_seq_master++; fp@528: fsm->state = ec_fsm_master_state_error; fp@430: return; fp@430: } fp@430: fp@430: // SDO dictionary fetching finished fp@430: fp@430: request->return_code = 1; fp@441: master->sdo_seq_master++; fp@430: fp@430: // restart master state machine. fp@528: fsm->state = ec_fsm_master_state_start; fp@528: fsm->state(fsm); // execute immediately fp@430: } fp@430: fp@446: /*****************************************************************************/ fp@446: fp@446: /** fp@446: State: ERROR. fp@446: */ fp@446: fp@528: void ec_fsm_master_state_error( fp@528: ec_fsm_master_t *fsm /**< master state machine */ fp@528: ) fp@528: { fp@528: fsm->state = ec_fsm_master_state_start; fp@446: } fp@446: fp@446: /*****************************************************************************/ fp@446: fp@446: /** fp@446: State: END. fp@446: */ fp@446: fp@528: void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */) fp@528: { fp@528: fsm->state = ec_fsm_master_state_start; fp@528: } fp@528: fp@528: /*****************************************************************************/ fp@528: