fp@434: /******************************************************************************
fp@434:  *
fp@434:  *  $Id$
fp@434:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@434:  *
fp@434:  *  This file is part of the IgH EtherCAT Master.
fp@434:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@1685:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@1685:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@434:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@434:  *
fp@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@434:  *
fp@434:  *****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    \file
fp@434:    EtherCAT state change FSM.
fp@434: */
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: #include "globals.h"
fp@434: #include "master.h"
fp@434: #include "fsm_change.h"
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@454: void ec_fsm_change_state_start(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_check(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_status(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_code(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_ack(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_end(ec_fsm_change_t *);
fp@454: void ec_fsm_change_state_error(ec_fsm_change_t *);
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Constructor.
fp@434: */
fp@434: 
fp@434: void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */
fp@434:                         ec_datagram_t *datagram /**< datagram */
fp@434:                         )
fp@434: {
fp@434:     fsm->state = NULL;
fp@434:     fsm->datagram = datagram;
fp@738:     fsm->spontaneous_change = 0;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Destructor.
fp@434: */
fp@434: 
fp@434: void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
fp@434: {
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@454:    Starts the change state machine.
fp@454: */
fp@454: 
fp@454: void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
fp@454:                          ec_slave_t *slave, /**< EtherCAT slave */
fp@454:                          ec_slave_state_t state /**< requested state */
fp@454:                          )
fp@454: {
fp@454:     fsm->mode = EC_FSM_CHANGE_MODE_FULL;
fp@434:     fsm->slave = slave;
fp@434:     fsm->requested_state = state;
fp@454:     fsm->state = ec_fsm_change_state_start;
fp@454: }
fp@454: 
fp@454: /*****************************************************************************/
fp@454: 
fp@454: /**
fp@454:    Starts the change state machine to only acknowlegde a slave's state.
fp@454: */
fp@454: 
fp@454: void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
fp@454:                        ec_slave_t *slave /**< EtherCAT slave */
fp@454:                        )
fp@454: {
fp@454:     fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
fp@454:     fsm->slave = slave;
fp@454:     fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
fp@454:     fsm->state = ec_fsm_change_state_start_ack;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Executes the current state of the state machine.
fp@435:    \return false, if the state machine has terminated
fp@435: */
fp@435: 
fp@435: int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
fp@434: {
fp@434:     fsm->state(fsm);
fp@435: 
fp@454:     return fsm->state != ec_fsm_change_state_end
fp@454:         && fsm->state != ec_fsm_change_state_error;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Returns, if the state machine terminated with success.
fp@434:    \return non-zero if successful.
fp@434: */
fp@434: 
fp@434: int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
fp@434: {
fp@454:     return fsm->state == ec_fsm_change_state_end;
fp@434: }
fp@434: 
fp@434: /******************************************************************************
fp@434:  *  state change state machine
fp@434:  *****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: START.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_start(ec_fsm_change_t *fsm
fp@454:                                /**< finite state machine */)
fp@434: {
fp@434:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     ec_slave_t *slave = fsm->slave;
fp@434: 
fp@434:     fsm->take_time = 1;
fp@454:     fsm->old_state = fsm->slave->current_state;
fp@434: 
fp@434:     // write new state to slave
fp@815:     ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
fp@434:     EC_WRITE_U16(datagram->data, fsm->requested_state);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@454:     fsm->state = ec_fsm_change_state_check;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: CHECK.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_check(ec_fsm_change_t *fsm
fp@454:                                /**< finite state machine */)
fp@434: {
fp@434:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     ec_slave_t *slave = fsm->slave;
fp@434: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@434:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@454:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to receive state datagram from slave %u"
fp@986:                 " (datagram state %u)!\n",
fp@594:                fsm->slave->ring_position, datagram->state);
fp@434:         return;
fp@434:     }
fp@434: 
fp@434:     if (fsm->take_time) {
fp@434:         fsm->take_time = 0;
fp@434:         fsm->jiffies_start = datagram->jiffies_sent;
fp@434:     }
fp@434: 
fp@713:     if (datagram->working_counter == 0) {
fp@434:         if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
fp@438:             char state_str[EC_STATE_STRING_SIZE];
fp@438:             ec_state_string(fsm->requested_state, state_str);
fp@454:             fsm->state = ec_fsm_change_state_error;
fp@986:             EC_ERR("Failed to set state %s on slave %u: ",
fp@713:                     state_str, fsm->slave->ring_position);
fp@713:             ec_datagram_print_wc_error(datagram);
fp@434:             return;
fp@434:         }
fp@434: 
fp@434:         // repeat writing new state to slave
fp@815:         ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
fp@434:         EC_WRITE_U16(datagram->data, fsm->requested_state);
fp@505:         fsm->retries = EC_FSM_RETRIES;
fp@434:         return;
fp@434:     }
fp@434: 
fp@713:     if (unlikely(datagram->working_counter > 1)) {
fp@713:         char state_str[EC_STATE_STRING_SIZE];
fp@713:         ec_state_string(fsm->requested_state, state_str);
fp@713:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to set state %s on slave %u: ",
fp@713:                 state_str, fsm->slave->ring_position);
fp@713:         ec_datagram_print_wc_error(datagram);
fp@713:         return;
fp@713:     }
fp@713: 
fp@434:     fsm->take_time = 1;
fp@434: 
fp@434:     // read AL status from slave
fp@815:     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@738:     fsm->spontaneous_change = 0;
fp@454:     fsm->state = ec_fsm_change_state_status;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: STATUS.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_status(ec_fsm_change_t *fsm
fp@454:                                 /**< finite state machine */)
fp@434: {
fp@434:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     ec_slave_t *slave = fsm->slave;
fp@434: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@505:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to receive state checking datagram from slave %u"
fp@986:                 " (datagram state %u).\n",
fp@594:                slave->ring_position, datagram->state);
fp@505:         return;
fp@505:     }
fp@505: 
fp@505:     if (datagram->working_counter != 1) {
fp@469:         char req_state[EC_STATE_STRING_SIZE];
fp@469:         ec_state_string(fsm->requested_state, req_state);
fp@469:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to check state %s on slave %u: ",
fp@469:                req_state, slave->ring_position);
fp@713:         ec_datagram_print_wc_error(datagram);
fp@434:         return;
fp@434:     }
fp@434: 
fp@434:     if (fsm->take_time) {
fp@434:         fsm->take_time = 0;
fp@434:         fsm->jiffies_start = datagram->jiffies_sent;
fp@434:     }
fp@434: 
fp@434:     slave->current_state = EC_READ_U8(datagram->data);
fp@434: 
fp@434:     if (slave->current_state == fsm->requested_state) {
fp@434:         // state has been set successfully
fp@454:         fsm->state = ec_fsm_change_state_end;
fp@454:         return;
fp@454:     }
fp@454: 
fp@454:     if (slave->current_state != fsm->old_state) { // state changed
fp@438:         char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
fp@454: 
fp@469:         ec_state_string(slave->current_state, cur_state);
fp@469: 
fp@469:         if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {
fp@469:             // Slave spontaneously changed its state just before the new state
fp@469:             // was written. Accept current state as old state and wait for
fp@469:             // state change
fp@738:             fsm->spontaneous_change = 1;
fp@469:             fsm->old_state = slave->current_state;
fp@986:             EC_WARN("Slave %u changed to %s in the meantime.\n",
fp@469:                     slave->ring_position, cur_state);
fp@738:             goto check_again;
fp@469:         }
fp@469: 
fp@469:         // state change error
fp@469: 
fp@454:         slave->error_flag = 1;
fp@438:         ec_state_string(fsm->requested_state, req_state);
fp@469: 
fp@986:         EC_ERR("Failed to set %s state, slave %u refused state change (%s).\n",
fp@469:                req_state, slave->ring_position, cur_state);
fp@469:         // fetch AL status error code
fp@815:         ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
fp@505:         fsm->retries = EC_FSM_RETRIES;
fp@469:         fsm->state = ec_fsm_change_state_code;
fp@454:         return;
fp@454:     }
fp@454: 
fp@454:     // still old state
fp@434: 
fp@439:     if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
fp@434:         // timeout while checking
fp@438:         char state_str[EC_STATE_STRING_SIZE];
fp@438:         ec_state_string(fsm->requested_state, state_str);
fp@454:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Timeout while setting state %s on slave %u.\n",
fp@738:                 state_str, slave->ring_position);
fp@738:         return;
fp@738:     }
fp@738: 
fp@738:  check_again:
fp@469:     // no timeout yet. check again
fp@815:     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Application layer status messages.
fp@434: */
fp@434: 
fp@434: const ec_code_msg_t al_status_messages[] = {
fp@434:     {0x0001, "Unspecified error"},
fp@434:     {0x0011, "Invalud requested state change"},
fp@434:     {0x0012, "Unknown requested state"},
fp@434:     {0x0013, "Bootstrap not supported"},
fp@434:     {0x0014, "No valid firmware"},
fp@434:     {0x0015, "Invalid mailbox configuration"},
fp@434:     {0x0016, "Invalid mailbox configuration"},
fp@434:     {0x0017, "Invalid sync manager configuration"},
fp@434:     {0x0018, "No valid inputs available"},
fp@434:     {0x0019, "No valid outputs"},
fp@434:     {0x001A, "Synchronisation error"},
fp@434:     {0x001B, "Sync manager watchdog"},
fp@434:     {0x001C, "Invalid sync manager types"},
fp@434:     {0x001D, "Invalid output configuration"},
fp@434:     {0x001E, "Invalid input configuration"},
fp@434:     {0x001F, "Invalid watchdog configuration"},
fp@434:     {0x0020, "Slave needs cold start"},
fp@434:     {0x0021, "Slave needs INIT"},
fp@434:     {0x0022, "Slave needs PREOP"},
fp@813:     {0x0023, "Slave needs SAFEOP"},
fp@434:     {0x0030, "Invalid DC SYNCH configuration"},
fp@434:     {0x0031, "Invalid DC latch configuration"},
fp@434:     {0x0032, "PLL error"},
fp@434:     {0x0033, "Invalid DC IO error"},
fp@434:     {0x0034, "Invalid DC timeout error"},
fp@434:     {0x0042, "MBOX EOE"},
fp@434:     {0x0043, "MBOX COE"},
fp@434:     {0x0044, "MBOX FOE"},
fp@434:     {0x0045, "MBOX SOE"},
fp@434:     {0x004F, "MBOX VOE"},
fp@434:     {}
fp@434: };
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: CODE.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_code(ec_fsm_change_t *fsm
fp@454:                               /**< finite state machine */)
fp@454: {
fp@454:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     uint32_t code;
fp@434:     const ec_code_msg_t *al_msg;
fp@434: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@505:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to receive AL status code datagram from slave %u"
fp@986:                 " (datagram state %u).\n",
fp@594:                fsm->slave->ring_position, datagram->state);
fp@505:         return;
fp@505:     }
fp@505: 
fp@505:     if (datagram->working_counter != 1) {
fp@713:         EC_WARN("Reception of AL status code datagram failed: ");
fp@713:         ec_datagram_print_wc_error(datagram);
fp@798:     } else {
fp@798:         code = EC_READ_U16(datagram->data);
fp@798:         for (al_msg = al_status_messages; al_msg->code; al_msg++) {
fp@798:             if (al_msg->code != code) continue;
fp@798:             EC_ERR("AL status message 0x%04X: \"%s\".\n",
fp@798:                     al_msg->code, al_msg->message);
fp@798:             break;
fp@434:         }
fp@798:         if (!al_msg->code)
fp@798:             EC_ERR("Unknown AL status code 0x%04X.\n", code);
fp@434:     }
fp@434: 
fp@434:     // acknowledge "old" slave state
fp@454:     ec_fsm_change_state_start_ack(fsm); // execute immediately
fp@454: }
fp@454: 
fp@454: /*****************************************************************************/
fp@454: 
fp@454: /**
fp@454:    Change state: START ACK.
fp@454: */
fp@454: 
fp@454: void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
fp@454:                                    /**< finite state machine */)
fp@454: {
fp@454:     ec_slave_t *slave = fsm->slave;
fp@454:     ec_datagram_t *datagram = fsm->datagram;
fp@454: 
fp@815:     ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
fp@434:     EC_WRITE_U16(datagram->data, slave->current_state);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@454:     fsm->state = ec_fsm_change_state_ack;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: ACK.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
fp@434: {
fp@434:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     ec_slave_t *slave = fsm->slave;
fp@434: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@505:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to receive state ack datagram for slave %u"
fp@986:                 " (datagram state %u).\n",
fp@594:                slave->ring_position, datagram->state);
fp@505:         return;
fp@505:     }
fp@505: 
fp@505:     if (datagram->working_counter != 1) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Reception of state ack datagram failed on slave %u: ",
fp@713:                 slave->ring_position);
fp@713:         ec_datagram_print_wc_error(datagram);
fp@434:         return;
fp@434:     }
fp@434: 
fp@434:     fsm->take_time = 1;
fp@434: 
fp@434:     // read new AL status
fp@815:     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@454:     fsm->state = ec_fsm_change_state_check_ack;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    Change state: CHECK ACK.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
fp@454:                                    /**< finite state machine */)
fp@434: {
fp@434:     ec_datagram_t *datagram = fsm->datagram;
fp@434:     ec_slave_t *slave = fsm->slave;
fp@434: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@505:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Failed to receive state ack check datagram from slave %u"
fp@986:                 " (datagram state %u).\n",
fp@594:                slave->ring_position, datagram->state);
fp@505:         return;
fp@505:     }
fp@505: 
fp@505:     if (datagram->working_counter != 1) {
fp@505:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Reception of state ack check datagram failed on slave %u: ",
fp@713:                 slave->ring_position);
fp@713:         ec_datagram_print_wc_error(datagram);
fp@434:         return;
fp@434:     }
fp@434: 
fp@434:     if (fsm->take_time) {
fp@434:         fsm->take_time = 0;
fp@434:         fsm->jiffies_start = datagram->jiffies_sent;
fp@434:     }
fp@434: 
fp@434:     slave->current_state = EC_READ_U8(datagram->data);
fp@434: 
fp@434:     if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
fp@438:         char state_str[EC_STATE_STRING_SIZE];
fp@438:         ec_state_string(slave->current_state, state_str);
fp@454:         if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {
fp@454:             fsm->state = ec_fsm_change_state_error;
fp@454:         }
fp@454:         else { // EC_FSM_CHANGE_MODE_ACK_ONLY
fp@454:             fsm->state = ec_fsm_change_state_end;
fp@454:         }
fp@986:         EC_INFO("Acknowledged state %s on slave %u.\n",
fp@438:                 state_str, slave->ring_position);
fp@434:         return;
fp@434:     }
fp@434: 
fp@443:     if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
fp@443:         // timeout while checking
fp@438:         char state_str[EC_STATE_STRING_SIZE];
fp@443:         ec_state_string(slave->current_state, state_str);
fp@454:         fsm->state = ec_fsm_change_state_error;
fp@986:         EC_ERR("Timeout while acknowledging state %s on slave %u.\n",
fp@438:                state_str, slave->ring_position);
fp@434:         return;
fp@434:     }
fp@434: 
fp@434:     // reread new AL status
fp@815:     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    State: ERROR.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_error(ec_fsm_change_t *fsm
fp@454:                                /**< finite state machine */)
fp@434: {
fp@434: }
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    State: END.
fp@434: */
fp@434: 
fp@454: void ec_fsm_change_state_end(ec_fsm_change_t *fsm
fp@454:                              /**< finite state machine */)
fp@454: {
fp@454: }
fp@454: 
fp@454: /*****************************************************************************/