--- a/master/Makefile Mon May 15 12:57:24 2006 +0000
+++ b/master/Makefile Tue May 16 11:57:06 2006 +0000
@@ -33,7 +33,7 @@
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o slave.o command.o types.o \
- domain.o mailbox.o canopen.o ethernet.o debug.o
+ domain.o mailbox.o canopen.o ethernet.o debug.o fsm.o
REV := $(shell svnversion $(src) 2>/dev/null)
--- a/master/command.h Mon May 15 12:57:24 2006 +0000
+++ b/master/command.h Tue May 16 11:57:06 2006 +0000
@@ -115,6 +115,7 @@
void ec_command_init(ec_command_t *);
void ec_command_clear(ec_command_t *);
+int ec_command_prealloc(ec_command_t *, size_t);
int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.c Tue May 16 11:57:06 2006 +0000
@@ -0,0 +1,787 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "fsm.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+#define EC_CAT_MEM 0x100
+
+/*****************************************************************************/
+
+void ec_fsm_master_start(ec_fsm_t *);
+void ec_fsm_master_wait(ec_fsm_t *);
+void ec_fsm_master_slave(ec_fsm_t *);
+void ec_fsm_master_calc(ec_fsm_t *);
+void ec_fsm_master_finished(ec_fsm_t *);
+
+void ec_fsm_slave_start(ec_fsm_t *);
+void ec_fsm_slave_read_base(ec_fsm_t *);
+void ec_fsm_slave_read_dl(ec_fsm_t *);
+void ec_fsm_slave_prepare_sii(ec_fsm_t *);
+void ec_fsm_slave_read_sii(ec_fsm_t *);
+void ec_fsm_slave_categories(ec_fsm_t *);
+void ec_fsm_slave_category_header(ec_fsm_t *);
+void ec_fsm_slave_category_data(ec_fsm_t *);
+void ec_fsm_slave_finished(ec_fsm_t *);
+
+void ec_fsm_sii_start_reading(ec_fsm_t *);
+void ec_fsm_sii_check(ec_fsm_t *);
+void ec_fsm_sii_fetch(ec_fsm_t *);
+void ec_fsm_sii_finished(ec_fsm_t *);
+void ec_fsm_sii_error(ec_fsm_t *);
+
+/*****************************************************************************/
+
+int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)
+{
+ fsm->master = master;
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_slaves_responding = 0;
+ fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+ fsm->slave_cat_data = NULL;
+
+ ec_command_init(&fsm->command);
+ if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {
+ EC_ERR("FSM failed to allocate FSM command.\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ec_fsm_clear(ec_fsm_t *fsm)
+{
+ if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
+ ec_command_clear(&fsm->command);
+}
+
+/*****************************************************************************/
+
+void ec_fsm_reset(ec_fsm_t *fsm)
+{
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_slaves_responding = 0;
+ fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+
+ if (fsm->slave_cat_data) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ }
+}
+
+/*****************************************************************************/
+
+void ec_fsm_execute(ec_fsm_t *fsm)
+{
+ fsm->master_state(fsm);
+}
+
+/*****************************************************************************/
+
+int ec_fsm_idle(const ec_fsm_t *fsm)
+{
+ return (fsm->master_state == ec_fsm_master_start ||
+ fsm->master_state == ec_fsm_master_wait ||
+ fsm->master_state == ec_fsm_master_finished);
+}
+
+/******************************************************************************
+ * master state machine
+ *****************************************************************************/
+
+/**
+ State: Start.
+ Starts with getting slave count and slave states.
+*/
+
+void ec_fsm_master_start(ec_fsm_t *fsm)
+{
+ ec_command_brd(&fsm->command, 0x0130, 2);
+ ec_master_queue_command(fsm->master, &fsm->command);
+
+ fsm->master_state = ec_fsm_master_wait;
+}
+
+/*****************************************************************************/
+
+void ec_fsm_master_wait(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ unsigned int first, topology_change, i;
+ ec_slave_t *slave;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (command->working_counter == fsm->master_slaves_responding &&
+ command->data[0] == fsm->master_slave_states) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ topology_change = command->working_counter !=
+ fsm->master_slaves_responding;
+
+ fsm->master_slaves_responding = command->working_counter;
+ fsm->master_slave_states = command->data[0];
+
+ EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+
+ first = 1;
+ if (fsm->master_slave_states & EC_SLAVE_STATE_INIT) {
+ printk("INIT");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_PREOP) {
+ if (!first) printk(", ");
+ printk("PREOP");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_SAVEOP) {
+ if (!first) printk(", ");
+ printk("SAVEOP");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_OP) {
+ if (!first) printk(", ");
+ printk("OP");
+ }
+ printk(")\n");
+
+ if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // topology change!
+ ec_master_clear_slaves(fsm->master);
+
+ if (!fsm->master_slaves_responding) {
+ // no slaves present -> finish state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // init slaves
+ for (i = 0; i < fsm->master_slaves_responding; i++) {
+ if (!(slave =
+ (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {
+ EC_ERR("FSM failed to allocate slave %i!\n", i);
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ if (ec_slave_init(slave, fsm->master, i, i + 1)) {
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ if (kobject_add(&slave->kobj)) {
+ EC_ERR("FSM failed to add kobject.\n");
+ kobject_put(&slave->kobj); // free
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ list_add_tail(&slave->list, &fsm->master->slaves);
+ }
+
+ // begin scanning of slaves
+ fsm->slave = list_entry(fsm->master->slaves.next,
+ ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start;
+
+ fsm->master_state = ec_fsm_master_slave;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ State: Get Slave.
+ Executes the sub-statemachine of a slave.
+*/
+
+void ec_fsm_master_slave(ec_fsm_t *fsm)
+{
+ ec_master_t *master = fsm->master;
+
+ fsm->slave_state(fsm); // execute slave state machine
+
+ if (fsm->slave_state != ec_fsm_slave_finished) return;
+
+ // have all slaves been fetched?
+ if (fsm->slave->list.next == &master->slaves) {
+ fsm->master_state = ec_fsm_master_calc;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start;
+ fsm->slave_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Free-Run state: Calc.
+*/
+
+void ec_fsm_master_calc(ec_fsm_t *fsm)
+{
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_t *slave;
+ ec_slave_ident_t *ident;
+ ec_master_t *master = fsm->master;
+
+ coupler_index = 0;
+ reverse_coupler_index = 0xFFFF;
+ current_coupler_index = 0x3FFF;
+ coupler_subindex = 0;
+
+ // for every slave on the bus
+ list_for_each_entry(slave, &master->slaves, list)
+ {
+ // search for identification in "database"
+ ident = slave_idents;
+ while (ident->type) {
+ if (unlikely(ident->vendor_id == slave->sii_vendor_id
+ && ident->product_code == slave->sii_product_code)) {
+ slave->type = ident->type;
+ break;
+ }
+ ident++;
+ }
+
+ if (!slave->type) {
+ EC_WARN("FSM: Unknown slave device (vendor 0x%08X, code 0x%08X) at"
+ " position %i.\n", slave->sii_vendor_id,
+ slave->sii_product_code, slave->ring_position);
+ }
+ else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
+ if (slave->sii_alias)
+ current_coupler_index = reverse_coupler_index--;
+ else
+ current_coupler_index = coupler_index++;
+ coupler_subindex = 0;
+ }
+
+ slave->coupler_index = current_coupler_index;
+ slave->coupler_subindex = coupler_subindex;
+ coupler_subindex++;
+ }
+
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Free-Run state: Finished.
+ End state of the state machine. Does nothing.
+*/
+
+void ec_fsm_master_finished(ec_fsm_t *fsm)
+{
+}
+
+/******************************************************************************
+ * slave state machine
+ *****************************************************************************/
+
+/**
+ Slave state: Start.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_start(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read base.
+*/
+
+void ec_fsm_slave_read_base(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to write station address of slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ // read base data
+ ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_dl;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read DL.
+*/
+
+void ec_fsm_slave_read_dl(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read base data of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ slave->base_type = EC_READ_U8 (command->data);
+ slave->base_revision = EC_READ_U8 (command->data + 1);
+ slave->base_build = EC_READ_U16(command->data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
+ slave->base_sync_count = EC_READ_U8 (command->data + 5);
+
+ if (slave->base_fmmu_count > EC_MAX_FMMUS)
+ slave->base_fmmu_count = EC_MAX_FMMUS;
+
+ // read data link status
+ ec_command_nprd(command, slave->station_address, 0x0110, 2);
+ ec_master_queue_command(slave->master, command);
+ fsm->slave_state = ec_fsm_slave_prepare_sii;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Prepare SII.
+*/
+
+void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t dl_status;
+ unsigned int i;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read DL status of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ dl_status = EC_READ_U16(command->data);
+
+ for (i = 0; i < 4; i++) {
+ slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ fsm->sii_offset = 0x0004;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_sii_num = 0;
+ fsm->slave_state = ec_fsm_slave_read_sii;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read SII.
+*/
+
+void ec_fsm_slave_read_sii(ec_fsm_t *fsm)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ fsm->slave_state = ec_fsm_slave_finished;
+ EC_ERR("FSM failed to read SII data at 0x%04X on slave %i.\n",
+ fsm->sii_offset, slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_finished) return;
+
+ switch (fsm->slave_sii_num) {
+ case 0:
+ slave->sii_alias = fsm->sii_result & 0xFFFF;
+ fsm->sii_offset = 0x0008;
+ break;
+ case 1:
+ slave->sii_vendor_id = fsm->sii_result;
+ fsm->sii_offset = 0x000A;
+ break;
+ case 2:
+ slave->sii_product_code = fsm->sii_result;
+ fsm->sii_offset = 0x000C;
+ break;
+ case 3:
+ slave->sii_revision_number = fsm->sii_result;
+ fsm->sii_offset = 0x000E;
+ break;
+ case 4:
+ slave->sii_serial_number = fsm->sii_result;
+ fsm->sii_offset = 0x0018;
+ break;
+ case 5:
+ slave->sii_rx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_rx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001A;
+ break;
+ case 6:
+ slave->sii_tx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_tx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001C;
+ break;
+ case 7:
+ slave->sii_mailbox_protocols = fsm->sii_result & 0xFFFF;
+ fsm->slave_state = ec_fsm_slave_categories;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ fsm->slave_sii_num++;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Categories.
+*/
+
+void ec_fsm_slave_categories(ec_fsm_t *fsm)
+{
+ fsm->slave_cat_offset = 0x0040;
+
+ if (fsm->slave_cat_data) {
+ EC_INFO("FSM freeing old category data on slave %i...\n",
+ fsm->slave->ring_position);
+ kfree(fsm->slave_cat_data);
+ }
+
+ if (!(fsm->slave_cat_data = (uint8_t *) kmalloc(EC_CAT_MEM, GFP_ATOMIC))) {
+ EC_ERR("FSM Failed to allocate category data.\n");
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ // start reading first category header
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read categories.
+ Start reading categories.
+*/
+
+void ec_fsm_slave_category_header(ec_fsm_t *fsm)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_finished;
+ EC_ERR("FSM failed to read category header at 0x%04X on slave %i.\n",
+ fsm->slave_cat_offset, fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_finished) return;
+
+ // last category?
+ if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ fsm->slave_cat_type = fsm->sii_result & 0x7FFF;
+ fsm->slave_cat_words = (fsm->sii_result >> 16) & 0xFFFF;
+
+ if (fsm->slave_cat_words > EC_CAT_MEM * 2) {
+ EC_ERR("FSM category memory too small! %i words needed.\n",
+ fsm->slave_cat_words);
+ fsm->slave_state = ec_fsm_slave_finished;
+ return;
+ }
+
+ // start reading category data
+ fsm->slave_cat_data_offset = 0;
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Category data.
+ Reads category data.
+*/
+
+void ec_fsm_slave_category_data(ec_fsm_t *fsm)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_finished;
+ EC_ERR("FSM failed to read category 0x%02X data at 0x%04X"
+ " on slave %i.\n", fsm->slave_cat_type, fsm->sii_offset,
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_finished) return;
+
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ fsm->sii_result & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 8) & 0xFF;
+
+ // read second word "on the fly"
+ if (fsm->slave_cat_data_offset + 1 < fsm->slave_cat_words) {
+ fsm->slave_cat_data_offset++;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ (fsm->sii_result >> 16) & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 24) & 0xFF;
+ }
+
+ fsm->slave_cat_data_offset++;
+
+ if (fsm->slave_cat_data_offset < fsm->slave_cat_words) {
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ // category data complete
+ switch (fsm->slave_cat_type)
+ {
+ case 0x000A:
+ if (ec_slave_fetch_strings(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x001E:
+ if (ec_slave_fetch_general(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x0028:
+ break;
+ case 0x0029:
+ if (ec_slave_fetch_sync(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words))
+ goto out_free;
+ break;
+ case 0x0032:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_TX_PDO))
+ goto out_free;
+ break;
+ case 0x0033:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_RX_PDO))
+ goto out_free;
+ break;
+ default:
+ EC_WARN("FSM: Unknown category type 0x%04X in slave %i.\n",
+ fsm->slave_cat_type, fsm->slave->ring_position);
+ }
+
+ // start reading next category header
+ fsm->slave_cat_offset += 2 + fsm->slave_cat_words;
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+
+ out_free:
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_finished;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Finished.
+ End state of the slave state machine.
+*/
+
+void ec_fsm_slave_finished(ec_fsm_t *fsm)
+{
+}
+
+/******************************************************************************
+ * SII state machine
+ *****************************************************************************/
+
+/**
+ Slave SII state: Start reading.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_start_reading(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ // initiate read operation
+ ec_command_npwr(command, fsm->slave->station_address, 0x502, 6);
+ EC_WRITE_U8 (command->data, 0x00); // read-only access
+ EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
+ EC_WRITE_U32(command->data + 2, fsm->sii_offset);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_check;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Check.
+ Checks, if the SII-read-command has been sent and issues a fetch command.
+*/
+
+void ec_fsm_sii_check(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM SII: Reception of check command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Fetch.
+ Fetches the result of an SII-read command.
+*/
+
+void ec_fsm_sii_fetch(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM SII: Reception of fetch command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ // check "busy bit"
+ if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
+ fsm->sii_result = EC_READ_U32(command->data + 6);
+ fsm->sii_state = ec_fsm_sii_finished;
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Finished.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_finished(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Error.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_error(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.h Tue May 16 11:57:06 2006 +0000
@@ -0,0 +1,81 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_STATES__
+#define __EC_STATES__
+
+#include "../include/ecrt.h"
+#include "command.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm ec_fsm_t;
+
+/*****************************************************************************/
+
+/**
+ Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm
+{
+ ec_master_t *master; /**< master the FSM runs on */
+ ec_slave_t *slave; /**< slave the FSM runs on */
+ ec_command_t command; /**< command used in the state machine */
+
+ void (*master_state)(ec_fsm_t *); /**< master state function */
+ unsigned int master_slaves_responding; /**< number of responding slaves */
+ ec_slave_state_t master_slave_states; /**< states of responding slaves */
+
+ void (*slave_state)(ec_fsm_t *); /**< slave state function */
+ uint8_t slave_sii_num; /**< SII value iteration counter */
+ uint8_t *slave_cat_data; /**< temporary memory for category data */
+ uint16_t slave_cat_offset; /**< current category word offset in EEPROM */
+ uint16_t slave_cat_data_offset; /**< current offset in category data */
+ uint16_t slave_cat_type; /**< type of current category */
+ uint16_t slave_cat_words; /**< number of words of current category */
+
+ void (*sii_state)(ec_fsm_t *); /**< SII state function */
+ uint16_t sii_offset; /**< input: offset in SII */
+ uint32_t sii_result; /**< output: read SII value (32bit) */
+};
+
+/*****************************************************************************/
+
+int ec_fsm_init(ec_fsm_t *, ec_master_t *);
+void ec_fsm_clear(ec_fsm_t *);
+void ec_fsm_reset(ec_fsm_t *);
+void ec_fsm_execute(ec_fsm_t *);
+int ec_fsm_idle(const ec_fsm_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/master.c Mon May 15 12:57:24 2006 +0000
+++ b/master/master.c Tue May 16 11:57:06 2006 +0000
@@ -54,11 +54,6 @@
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
-// state functions
-void ec_master_state_start(ec_master_t *);
-void ec_master_state_slave(ec_master_t *);
-void ec_master_state_finished(ec_master_t *);
-
/*****************************************************************************/
/** \cond */
@@ -98,24 +93,21 @@
{
EC_INFO("Initializing master %i.\n", index);
+ if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {
+ EC_ERR("Failed to create master workqueue.\n");
+ goto out_return;
+ }
+
+ if (ec_fsm_init(&master->fsm, master)) goto out_free_wq;
+
master->index = index;
master->device = NULL;
master->reserved = 0;
-
INIT_LIST_HEAD(&master->slaves);
INIT_LIST_HEAD(&master->command_queue);
INIT_LIST_HEAD(&master->domains);
INIT_LIST_HEAD(&master->eoe_slaves);
-
ec_command_init(&master->simple_command);
- ec_command_init(&master->watch_command);
-
- if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {
- EC_ERR("Failed to create master workqueue.\n");
- goto out_return;
- }
-
- // init freerun work
INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
// init eoe timer
@@ -133,14 +125,15 @@
master->kobj.ktype = &ktype_ec_master;
if (kobject_set_name(&master->kobj, "ethercat%i", index)) {
EC_ERR("Failed to set kobj name.\n");
- goto out_kobj_put;
+ kobject_put(&master->kobj);
+ return -1;
}
ec_master_reset(master);
return 0;
- out_kobj_put:
- kobject_put(&master->kobj);
+ out_free_wq:
+ destroy_workqueue(master->workqueue);
out_return:
return -1;
}
@@ -160,17 +153,15 @@
EC_INFO("Clearing master %i...\n", master->index);
ec_master_reset(master);
+ ec_fsm_clear(&master->fsm);
+ ec_command_clear(&master->simple_command);
+ destroy_workqueue(master->workqueue);
if (master->device) {
ec_device_clear(master->device);
kfree(master->device);
}
- ec_command_clear(&master->simple_command);
- ec_command_clear(&master->watch_command);
-
- destroy_workqueue(master->workqueue);
-
EC_INFO("Master %i cleared.\n", master->index);
}
@@ -184,7 +175,6 @@
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
{
- ec_slave_t *slave, *next_s;
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
ec_eoe_t *eoe, *next_eoe;
@@ -201,13 +191,7 @@
// stop free-run mode
ec_master_freerun_stop(master);
- // remove all slaves
- list_for_each_entry_safe(slave, next_s, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
- master->slave_count = 0;
+ ec_master_clear_slaves(master);
// empty command queue
list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
@@ -233,9 +217,6 @@
master->debug_level = 0;
master->timeout = 500; // 500us
- master->slaves_responding = 0;
- master->slave_states = EC_SLAVE_STATE_UNKNOWN;
-
master->stats.timeouts = 0;
master->stats.delayed = 0;
master->stats.corrupted = 0;
@@ -247,6 +228,26 @@
master->request_cb = NULL;
master->release_cb = NULL;
master->cb_data = NULL;
+
+ ec_fsm_reset(&master->fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Clears all slaves.
+*/
+
+void ec_master_clear_slaves(ec_master_t *master)
+{
+ ec_slave_t *slave, *next_slave;
+
+ list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
+ list_del(&slave->list);
+ kobject_del(&slave->kobj);
+ kobject_put(&slave->kobj);
+ }
+ master->slave_count = 0;
}
/*****************************************************************************/
@@ -516,10 +517,10 @@
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
{
- ec_slave_t *slave, *next;
+ ec_slave_t *slave;
ec_slave_ident_t *ident;
+ ec_command_t *command;
unsigned int i;
- ec_command_t *command;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
@@ -540,7 +541,8 @@
// init slaves
for (i = 0; i < master->slave_count; i++) {
- if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
+ if (!(slave =
+ (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate slave %i!\n", i);
goto out_free;
}
@@ -591,7 +593,7 @@
if (!slave->type) {
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
- slave->sii_product_code, i);
+ slave->sii_product_code, slave->ring_position);
}
else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
if (slave->sii_alias)
@@ -609,11 +611,7 @@
return 0;
out_free:
- list_for_each_entry_safe(slave, next, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
+ ec_master_clear_slaves(master);
return -1;
}
@@ -668,19 +666,8 @@
EC_INFO("Starting Free-Run mode.\n");
master->mode = EC_MASTER_MODE_FREERUN;
-
- if (master->watch_command.state == EC_CMD_INIT) {
- if (ec_command_brd(&master->watch_command, 0x130, 2)) {
- EC_ERR("Failed to allocate watchdog command!\n");
- return;
- }
- }
-
- master->freerun_state = ec_master_state_start;
-
- ecrt_master_prepare_async_io(master); /** \todo necessary? */
-
- queue_delayed_work(master->workqueue, &master->freerun_work, HZ);
+ ec_fsm_reset(&master->fsm);
+ queue_delayed_work(master->workqueue, &master->freerun_work, HZ / 100);
}
/*****************************************************************************/
@@ -691,8 +678,6 @@
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
{
- ec_slave_t *slave, *next_slave;
-
if (master->mode != EC_MASTER_MODE_FREERUN) return;
EC_INFO("Stopping Free-Run mode.\n");
@@ -701,13 +686,7 @@
flush_workqueue(master->workqueue);
}
- // remove slaves
- list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
-
+ ec_master_clear_slaves(master);
master->mode = EC_MASTER_MODE_IDLE;
}
@@ -720,106 +699,18 @@
void ec_master_freerun(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
+ unsigned long delay;
ecrt_master_async_receive(master);
- // watchdog command
- ec_master_process_watch_command(master);
-
- if (master->watch_command.working_counter != master->slave_count) {
- master->slave_count = master->watch_command.working_counter;
- EC_INFO("Freerun: Topology change detected.\n");
- // reset freerun state machine
- master->freerun_state = ec_master_state_start;
- }
-
- ec_master_queue_command(master, &master->watch_command);
-
// execute freerun state machine
- master->freerun_state(master);
+ ec_fsm_execute(&master->fsm);
ecrt_master_async_send(master);
- queue_delayed_work(master->workqueue, &master->freerun_work, HZ);
-}
-
-/*****************************************************************************/
-
-/**
- Free-Run state: Start.
- Processes new slave count.
-*/
-
-void ec_master_state_start(ec_master_t *master /**< EtherCAT master*/)
-{
- ec_slave_t *slave, *next_slave;
- unsigned int i;
-
- // remove slaves
- list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
- list_del(&slave->list);
- kobject_del(&slave->kobj);
- kobject_put(&slave->kobj);
- }
-
- if (!master->slave_count) {
- // no slaves present -> finish state machine.
- master->freerun_state = ec_master_state_finished;
- EC_INFO("Freerun: No slaves found.\n");
- return;
- }
-
- // init slaves
- for (i = 0; i < master->slave_count; i++) {
- if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
- GFP_KERNEL))) {
- EC_ERR("Failed to allocate slave %i!\n", i);
- master->freerun_state = ec_master_state_finished;
- return;
- }
-
- if (ec_slave_init(slave, master, i, i + 1)) {
- master->freerun_state = ec_master_state_finished;
- return;
- }
-
- if (kobject_add(&slave->kobj)) {
- EC_ERR("Failed to add kobject.\n");
- kobject_put(&slave->kobj); // free
- master->freerun_state = ec_master_state_finished;
- return;
- }
-
- list_add_tail(&slave->list, &master->slaves);
- }
-
- // begin scanning of slaves
- master->freerun_slave = list_entry(master->slaves.next, ec_slave_t, list);
- master->freerun_state = ec_master_state_slave;
-}
-
-/*****************************************************************************/
-
-/**
- Free-Run state: Get Slave.
- Executes the sub-statemachine of a slave.
-*/
-
-void ec_master_state_slave(ec_master_t *master /**< EtherCAT master*/)
-{
- master->freerun_state = ec_master_state_finished;
-}
-
-/*****************************************************************************/
-
-/**
- Free-Run state: Finished.
- End state of the state machine. Does nothing.
-*/
-
-void ec_master_state_finished(ec_master_t *master /**< EtherCAT master*/)
-{
- return;
+ delay = HZ / 100;
+ if (ec_fsm_idle(&master->fsm)) delay = HZ;
+ queue_delayed_work(master->workqueue, &master->freerun_work, delay);
}
/*****************************************************************************/
@@ -914,53 +805,6 @@
/*****************************************************************************/
/**
- Processes the watchdog command.
-*/
-
-void ec_master_process_watch_command(ec_master_t *master
- /**< EtherCAT master */
- )
-{
- unsigned int first;
-
- if (unlikely(master->watch_command.state == EC_CMD_INIT)) return;
-
- first = 1;
-
- if (master->watch_command.working_counter != master->slaves_responding ||
- master->watch_command.data[0] != master->slave_states)
- {
- master->slaves_responding = master->watch_command.working_counter;
- master->slave_states = master->watch_command.data[0];
-
- EC_INFO("%i slave%s responding (", master->slaves_responding,
- master->slaves_responding == 1 ? "" : "s");
-
- if (master->slave_states & EC_SLAVE_STATE_INIT) {
- printk("INIT");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_PREOP) {
- if (!first) printk(", ");
- printk("PREOP");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_SAVEOP) {
- if (!first) printk(", ");
- printk("SAVEOP");
- first = 0;
- }
- if (master->slave_states & EC_SLAVE_STATE_OP) {
- if (!first) printk(", ");
- printk("OP");
- }
- printk(")\n");
- }
-}
-
-/*****************************************************************************/
-
-/**
Does the Ethernet-over-EtherCAT processing.
*/
@@ -1069,13 +913,6 @@
command = &master->simple_command;
- if (master->watch_command.state == EC_CMD_INIT) {
- if (ec_command_brd(&master->watch_command, 0x130, 2)) {
- EC_ERR("Failed to allocate watchdog command!\n");
- return -1;
- }
- }
-
// allocate all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
@@ -1229,9 +1066,6 @@
return -1;
}
- master->slaves_responding = 0;
- master->slave_states = EC_SLAVE_STATE_INIT;
-
return 0;
}
@@ -1443,9 +1277,8 @@
// output statistics
ec_master_output_stats(master);
- // watchdog command
- ec_master_process_watch_command(master);
- ec_master_queue_command(master, &master->watch_command);
+ // execute master state machine
+ ec_fsm_execute(&master->fsm);
}
/*****************************************************************************/
--- a/master/master.h Mon May 15 12:57:24 2006 +0000
+++ b/master/master.h Tue May 16 11:57:06 2006 +0000
@@ -37,6 +37,7 @@
#include "device.h"
#include "domain.h"
+#include "fsm.h"
/*****************************************************************************/
@@ -94,9 +95,6 @@
uint8_t command_index; /**< current command index */
struct list_head domains; /**< list of domains */
ec_command_t simple_command; /**< command structure for initialization */
- ec_command_t watch_command; /**< command for watching the slaves */
- unsigned int slaves_responding; /**< number of responding slaves */
- ec_slave_state_t slave_states; /**< states of the responding slaves */
int debug_level; /**< master debug level */
ec_stats_t stats; /**< cyclic statistics */
unsigned int timeout; /**< timeout in synchronous IO */
@@ -104,8 +102,7 @@
unsigned int reserved; /**< true, if the master is reserved for RT */
struct workqueue_struct *workqueue; /**< master workqueue */
struct work_struct freerun_work; /**< free run work object */
- void (*freerun_state)(ec_master_t *); /**< freerun state function */
- ec_slave_t *freerun_slave; /**< current slave in bus scan */
+ ec_fsm_t fsm; /**< master state machine */
ec_master_mode_t mode; /**< master mode */
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
@@ -137,6 +134,7 @@
int ec_master_bus_scan(ec_master_t *);
// misc.
+void ec_master_clear_slaves(ec_master_t *);
void ec_master_output_stats(ec_master_t *);
/*****************************************************************************/
--- a/master/slave.c Mon May 15 12:57:24 2006 +0000
+++ b/master/slave.c Tue May 16 11:57:06 2006 +0000
@@ -39,11 +39,6 @@
/*****************************************************************************/
int ec_slave_fetch_categories(ec_slave_t *);
-int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
-int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
-int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
-int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
-int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
/*****************************************************************************/
@@ -55,6 +50,7 @@
EC_SYSFS_READ_ATTR(vendor_name);
EC_SYSFS_READ_ATTR(product_name);
EC_SYSFS_READ_ATTR(product_desc);
+EC_SYSFS_READ_ATTR(sii_desc);
EC_SYSFS_READ_ATTR(type);
static struct attribute *def_attrs[] = {
@@ -63,6 +59,7 @@
&attr_vendor_name,
&attr_product_name,
&attr_product_desc,
+ &attr_sii_desc,
&attr_type,
NULL,
};
@@ -492,6 +489,7 @@
/**
Fetches data from slave's EEPROM.
\return 0 in case of success, else < 0
+ \todo memory allocation
*/
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */)
@@ -1209,7 +1207,6 @@
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
- \ingroup RealTimeInterface
*/
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
@@ -1238,6 +1235,10 @@
if (slave->type)
return sprintf(buffer, "%s\n", slave->type->description);
}
+ else if (attr == &attr_sii_desc) {
+ if (slave->eeprom_desc)
+ return sprintf(buffer, "%s\n", slave->eeprom_desc);
+ }
else if (attr == &attr_type) {
if (slave->type) {
if (slave->type->special == EC_TYPE_BUS_COUPLER)
--- a/master/slave.h Mon May 15 12:57:24 2006 +0000
+++ b/master/slave.h Tue May 16 11:57:06 2006 +0000
@@ -282,6 +282,13 @@
// CoE
int ec_slave_fetch_sdo_list(ec_slave_t *);
+// state machine
+int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
+int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
+int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
+int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
+int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
+
// misc.
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);