--- a/master/ethernet.c Fri May 19 09:56:55 2006 +0000
+++ b/master/ethernet.c Fri May 19 13:23:11 2006 +0000
@@ -70,17 +70,15 @@
/**
EoE constructor.
- Initializes the EoE object, creates a net_device and registeres it.
-*/
-
-int ec_eoe_init(ec_eoe_t *eoe, /**< EoE object */
- ec_slave_t *slave /**< assigned slave */
- )
+ Initializes the EoE handler, creates a net_device and registeres it.
+*/
+
+int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */)
{
ec_eoe_t **priv;
int result, i;
- eoe->slave = slave;
+ eoe->slave = NULL;
eoe->state = ec_eoe_state_rx_start;
eoe->opened = 0;
eoe->rx_skb = NULL;
@@ -95,7 +93,7 @@
if (!(eoe->dev =
alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {
- EC_ERR("Unable to allocate net_device for EoE object!\n");
+ EC_ERR("Unable to allocate net_device for EoE handler!\n");
goto out_return;
}
@@ -145,7 +143,7 @@
Unregisteres the net_device and frees allocated memory.
*/
-void ec_eoe_clear(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */)
{
if (eoe->dev) {
unregister_netdev(eoe->dev);
@@ -169,7 +167,7 @@
Empties the transmit queue.
*/
-void ec_eoe_flush(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_flush(ec_eoe_t *eoe /**< EoE handler */)
{
ec_eoe_frame_t *frame, *next;
@@ -191,7 +189,7 @@
Sends a frame or the next fragment.
*/
-int ec_eoe_send(ec_eoe_t *eoe /**< EoE object */)
+int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)
{
size_t remaining_size, current_size, complete_offset;
unsigned int last_fragment;
@@ -262,7 +260,7 @@
Runs the EoE state machine.
*/
-void ec_eoe_run(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
{
if (!eoe->opened) return;
@@ -277,22 +275,25 @@
\return 1 if the device is "up", 0 if it is "down"
*/
-unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE object */)
-{
- return eoe->opened;
-}
-
-/*****************************************************************************/
-
-/**
- Prints EoE object information.
-*/
-
-void ec_eoe_print(const ec_eoe_t *eoe /**< EoE object */)
-{
- EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
- EC_INFO(" Assigned device: %s (%s)\n", eoe->dev->name,
- eoe->opened ? "opened" : "closed");
+unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
+{
+ return eoe->slave && eoe->opened;
+}
+
+/*****************************************************************************/
+
+/**
+ Prints EoE handler information.
+*/
+
+void ec_eoe_print(const ec_eoe_t *eoe /**< EoE handler */)
+{
+ EC_INFO(" EoE handler %s\n", eoe->dev->name);
+ EC_INFO(" State: %s\n", eoe->opened ? "opened" : "closed");
+ if (eoe->slave)
+ EC_INFO(" Coupled to slave %i.\n", eoe->slave->ring_position);
+ else
+ EC_INFO(" Not coupled.\n");
}
/******************************************************************************
@@ -305,7 +306,7 @@
slave's mailbox for a new command.
*/
-void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)
{
ec_slave_mbox_prepare_check(eoe->slave);
ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command);
@@ -320,7 +321,7 @@
command, if new data is available.
*/
-void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE handler */)
{
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
eoe->stats.rx_errors++;
@@ -346,7 +347,7 @@
EoE command.
*/
-void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)
{
size_t rec_size, data_size;
uint8_t *data, frame_type, last_fragment, time_appended;
@@ -486,7 +487,7 @@
sequence is started instead.
*/
-void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */)
{
#if EOE_DEBUG_LEVEL > 0
unsigned int wakeup;
@@ -546,7 +547,7 @@
fragment, if necessary.
*/
-void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE object */)
+void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE handler */)
{
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
eoe->stats.tx_errors++;
@@ -595,7 +596,12 @@
eoe->opened = 1;
netif_start_queue(dev);
eoe->tx_queue_active = 1;
- EC_INFO("%s (slave %i) opened.\n", dev->name, eoe->slave->ring_position);
+ EC_INFO("%s opened.\n", dev->name);
+ if (!eoe->slave)
+ EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name);
+ else {
+ eoe->slave->requested_state = EC_SLAVE_STATE_OP;
+ }
return 0;
}
@@ -612,7 +618,12 @@
eoe->tx_queue_active = 0;
eoe->opened = 0;
ec_eoe_flush(eoe);
- EC_INFO("%s (slave %i) stopped.\n", dev->name, eoe->slave->ring_position);
+ EC_INFO("%s stopped.\n", dev->name);
+ if (!eoe->slave)
+ EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name);
+ else {
+ eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
return 0;
}
--- a/master/ethernet.h Fri May 19 09:56:55 2006 +0000
+++ b/master/ethernet.h Fri May 19 13:23:11 2006 +0000
@@ -64,7 +64,7 @@
typedef struct ec_eoe ec_eoe_t;
/**
- Ethernet-over-EtherCAT (EoE) Object.
+ Ethernet-over-EtherCAT (EoE) handler.
The master creates one of these objects for each slave that supports the
EoE protocol.
*/
@@ -93,7 +93,7 @@
/*****************************************************************************/
-int ec_eoe_init(ec_eoe_t *, ec_slave_t *);
+int ec_eoe_init(ec_eoe_t *);
void ec_eoe_clear(ec_eoe_t *);
void ec_eoe_run(ec_eoe_t *);
unsigned int ec_eoe_active(const ec_eoe_t *);
--- a/master/fsm.c Fri May 19 09:56:55 2006 +0000
+++ b/master/fsm.c Fri May 19 13:23:11 2006 +0000
@@ -48,21 +48,32 @@
/*****************************************************************************/
+const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
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_master_scan(ec_fsm_t *);
+void ec_fsm_master_conf(ec_fsm_t *);
+
+void ec_fsm_slave_start_reading(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_slave_conf(ec_fsm_t *);
+void ec_fsm_slave_end(ec_fsm_t *);
+
+void ec_fsm_slave_conf(ec_fsm_t *);
+void ec_fsm_slave_sync(ec_fsm_t *);
+void ec_fsm_slave_preop(ec_fsm_t *);
+void ec_fsm_slave_fmmu(ec_fsm_t *);
+void ec_fsm_slave_saveop(ec_fsm_t *);
+void ec_fsm_slave_op(ec_fsm_t *);
+void ec_fsm_slave_op2(ec_fsm_t *);
void ec_fsm_sii_start_reading(ec_fsm_t *);
void ec_fsm_sii_check(ec_fsm_t *);
@@ -70,6 +81,15 @@
void ec_fsm_sii_finished(ec_fsm_t *);
void ec_fsm_sii_error(ec_fsm_t *);
+void ec_fsm_change_start(ec_fsm_t *);
+void ec_fsm_change_check(ec_fsm_t *);
+void ec_fsm_change_status(ec_fsm_t *);
+void ec_fsm_change_code(ec_fsm_t *);
+void ec_fsm_change_ack(ec_fsm_t *);
+void ec_fsm_change_ack2(ec_fsm_t *);
+void ec_fsm_change_end(ec_fsm_t *);
+void ec_fsm_change_error(ec_fsm_t *);
+
/*****************************************************************************/
int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)
@@ -118,15 +138,6 @@
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
*****************************************************************************/
@@ -149,7 +160,7 @@
void ec_fsm_master_wait(ec_fsm_t *fsm)
{
ec_command_t *command = &fsm->command;
- unsigned int first, topology_change, i;
+ unsigned int topology_change, i, eoe_slaves_active;
ec_slave_t *slave;
if (command->state != EC_CMD_RECEIVED) {
@@ -159,7 +170,42 @@
}
if (command->working_counter == fsm->master_slaves_responding &&
- command->data[0] == fsm->master_slave_states) {
+ command->data[0] == fsm->master_slave_states)
+ {
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &fsm->master->slaves, list) {
+ if (slave->state_error ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+
+ fsm->master_state = ec_fsm_master_conf;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // nothing to configure...
+ eoe_slaves_active = 0;
+ list_for_each_entry(slave, &fsm->master->slaves, list) {
+ if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
+ eoe_slaves_active++;
+ }
+ }
+
+ if (eoe_slaves_active && !list_empty(&fsm->master->eoe_handlers))
+ ec_master_eoe_start(fsm->master);
+
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
@@ -173,26 +219,7 @@
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");
- }
+ ec_print_states(fsm->master_slave_states);
printk(")\n");
if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {
@@ -201,7 +228,9 @@
return;
}
- // topology change!
+ EC_INFO("Topology change detected - Scanning bus.\n");
+
+ ec_master_eoe_stop(fsm->master);
ec_master_clear_slaves(fsm->master);
if (!fsm->master_slaves_responding) {
@@ -216,19 +245,19 @@
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;
+ fsm->master_state = ec_fsm_master_start;
return;
}
if (ec_slave_init(slave, fsm->master, i, i + 1)) {
- fsm->master_state = ec_fsm_master_finished;
+ fsm->master_state = ec_fsm_master_start;
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;
+ fsm->master_state = ec_fsm_master_start;
return;
}
@@ -236,11 +265,10 @@
}
// 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->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start_reading;
+
+ fsm->master_state = ec_fsm_master_scan;
fsm->master_state(fsm); // execute immediately
}
@@ -251,93 +279,132 @@
Executes the sub-statemachine of a slave.
*/
-void ec_fsm_master_slave(ec_fsm_t *fsm)
+void ec_fsm_master_scan(ec_fsm_t *fsm)
{
ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
fsm->slave_state(fsm); // execute slave state machine
- if (fsm->slave_state != ec_fsm_slave_finished) return;
+ if (fsm->slave_state != ec_fsm_slave_end) return;
// have all slaves been fetched?
- if (fsm->slave->list.next == &master->slaves) {
- fsm->master_state = ec_fsm_master_calc;
+ if (slave->list.next == &master->slaves)
+ {
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_t *slave;
+ ec_slave_ident_t *ident;
+
+ EC_INFO("Bus scanning completed.\n");
+
+ // identify all slaves and calculate coupler addressing
+
+ coupler_index = 0;
+ reverse_coupler_index = 0xFFFF;
+ current_coupler_index = 0x3FFF;
+ coupler_subindex = 0;
+
+ list_for_each_entry(slave, &master->slaves, list)
+ {
+ // search for identification in "database"
+ ident = slave_idents;
+ while (ident->type) {
+ if (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 the slave is a bus coupler, change adressing base
+ 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;
+ }
+ }
+
+ // determine initial state.
+ if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ }
+ else {
+ if (master->mode == EC_MASTER_MODE_RUNNING)
+ slave->requested_state = EC_SLAVE_STATE_PREOP;
+ else
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
+
+ // calculate coupler-based slave address
+ 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
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 = ec_fsm_slave_start_reading;
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;
+ Free-Run state: Configure slaves.
+*/
+
+void ec_fsm_master_conf(ec_fsm_t *fsm)
+{
+ ec_master_t *master = fsm->master;
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->slave_state(fsm); // execute slave's state machine
+
+ if (fsm->slave_state != ec_fsm_slave_end) return;
+
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->state_error ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+
+ fsm->master_state = ec_fsm_master_conf;
+ fsm->master_state(fsm); // execute immediately
+ return;
}
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
*****************************************************************************/
@@ -348,7 +415,7 @@
slave, according to its ring position.
*/
-void ec_fsm_slave_start(ec_fsm_t *fsm)
+void ec_fsm_slave_start_reading(ec_fsm_t *fsm)
{
ec_command_t *command = &fsm->command;
@@ -372,7 +439,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -396,7 +463,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -431,7 +498,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -464,7 +531,7 @@
fsm->sii_state(fsm);
if (fsm->sii_state == ec_fsm_sii_error) {
- fsm->slave_state = ec_fsm_slave_finished;
+ fsm->slave_state = ec_fsm_slave_end;
EC_ERR("FSM failed to read SII data at 0x%04X on slave %i.\n",
fsm->sii_offset, slave->ring_position);
return;
@@ -505,7 +572,27 @@
break;
case 7:
slave->sii_mailbox_protocols = fsm->sii_result & 0xFFFF;
- fsm->slave_state = ec_fsm_slave_categories;
+
+ 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_end;
+ 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
return;
}
@@ -518,36 +605,6 @@
/*****************************************************************************/
/**
- 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.
*/
@@ -560,7 +617,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
EC_ERR("FSM failed to read category header at 0x%04X on slave %i.\n",
fsm->slave_cat_offset, fsm->slave->ring_position);
return;
@@ -572,7 +629,7 @@
if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
kfree(fsm->slave_cat_data);
fsm->slave_cat_data = NULL;
- fsm->slave_state = ec_fsm_slave_finished;
+ fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -582,7 +639,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
return;
}
@@ -610,7 +667,7 @@
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;
+ fsm->slave_state = ec_fsm_slave_end;
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);
@@ -690,17 +747,313 @@
out_free:
kfree(fsm->slave_cat_data);
fsm->slave_cat_data = NULL;
- fsm->slave_state = ec_fsm_slave_finished;
-}
-
-/*****************************************************************************/
-
-/**
- Slave state: Finished.
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Start configuring.
+*/
+
+void ec_fsm_slave_conf(ec_fsm_t *fsm)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // check for slave registration
+ if (!slave->type) {
+ EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
+ }
+
+ // check and reset CRC fault counters
+ //ec_slave_check_crc(slave);
+
+ if (!slave->base_fmmu_count) { // no fmmus
+ fsm->slave_state = ec_fsm_slave_sync;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // reset FMMUs
+ ec_command_npwr(command, slave->station_address, 0x0600,
+ EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Configure sync managers.
+*/
+
+void ec_fsm_slave_sync(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ unsigned int j;
+ const ec_sync_t *sync;
+ ec_eeprom_sync_t *eeprom_sync, mbox_sync;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to reset FMMUs of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (!slave->base_sync_count) { // no sync managers
+ fsm->slave_state = ec_fsm_slave_preop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure sync managers
+ ec_command_npwr(command, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->base_sync_count);
+ memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+ // known slave type, take type's SM information
+ if (slave->type) {
+ for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
+ sync = slave->type->sync_managers[j];
+ ec_sync_config(sync, command->data + EC_SYNC_SIZE * j);
+ }
+ }
+
+ // unknown type, but slave has mailbox
+ else if (slave->sii_mailbox_protocols)
+ {
+ // does it supply sync manager configurations in its EEPROM?
+ if (!list_empty(&slave->eeprom_syncs)) {
+ list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
+ if (eeprom_sync->index >= slave->base_sync_count) {
+ EC_ERR("Invalid sync manager configuration found!");
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+ ec_eeprom_sync_config(eeprom_sync,
+ command->data + EC_SYNC_SIZE
+ * eeprom_sync->index);
+ }
+ }
+
+ // no sync manager information; guess mailbox settings
+ else {
+ mbox_sync.physical_start_address =
+ slave->sii_rx_mailbox_offset;
+ mbox_sync.length = slave->sii_rx_mailbox_size;
+ mbox_sync.control_register = 0x26;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync, command->data);
+
+ mbox_sync.physical_start_address =
+ slave->sii_tx_mailbox_offset;
+ mbox_sync.length = slave->sii_tx_mailbox_size;
+ mbox_sync.control_register = 0x22;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync,
+ command->data + EC_SYNC_SIZE);
+ }
+
+ EC_INFO("Mailbox configured for unknown slave %i\n",
+ slave->ring_position);
+ }
+
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_preop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Change slave state to PREOP.
+*/
+
+void ec_fsm_slave_preop(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 set sync managers on slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ fsm->change_new = EC_SLAVE_STATE_PREOP;
+ fsm->change_state = ec_fsm_change_start;
+
+ fsm->slave_state = ec_fsm_slave_fmmu;
+
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Configure FMMUs.
+*/
+
+void ec_fsm_slave_fmmu(ec_fsm_t *fsm)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+ unsigned int j;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in PREOP
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // stop activation here for slaves without type
+ if (!slave->type) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+#if 0
+ // slaves that are not registered are only brought into PREOP
+ // state -> nice blinking and mailbox communication possible
+ if (!slave->registered && !slave->type->special) {
+ EC_WARN("Slave %i was not registered!\n", slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+#endif
+
+ if (!slave->base_fmmu_count) {
+ fsm->slave_state = ec_fsm_slave_saveop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure FMMUs
+ ec_command_npwr(command, slave->station_address,
+ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ for (j = 0; j < slave->fmmu_count; j++) {
+ ec_fmmu_config(&slave->fmmus[j], command->data + EC_FMMU_SIZE * j);
+ }
+
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_saveop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Set slave state to SAVEOP.
+*/
+
+void ec_fsm_slave_saveop(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (fsm->slave->base_fmmu_count && (command->state != EC_CMD_RECEIVED ||
+ command->working_counter != 1)) {
+ EC_ERR("FSM failed to set FMMUs on slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to SAVEOP
+ fsm->slave_state = ec_fsm_slave_op;
+ fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Set slave state to OP.
+*/
+
+void ec_fsm_slave_op(ec_fsm_t *fsm)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in SAVEOP
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to OP
+ fsm->slave_state = ec_fsm_slave_op2;
+ fsm->change_new = EC_SLAVE_STATE_OP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Set slave state to OP.
+*/
+
+void ec_fsm_slave_op2(ec_fsm_t *fsm)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in OP
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: End.
End state of the slave state machine.
*/
-void ec_fsm_slave_finished(ec_fsm_t *fsm)
+void ec_fsm_slave_end(ec_fsm_t *fsm)
{
}
@@ -794,4 +1147,238 @@
{
}
-/*****************************************************************************/
+/******************************************************************************
+ * state change state machine
+ *****************************************************************************/
+
+/**
+ State change state: Start.
+*/
+
+void ec_fsm_change_start(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ // write new state to slave
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, fsm->change_new);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_check;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Check.
+*/
+
+void ec_fsm_change_check(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: Reception of state command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ //start = get_cycles();
+ //timeout = (cycles_t) 10 * cpu_khz; // 10ms
+
+ // read AL status from slave
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_status;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Status.
+*/
+
+void ec_fsm_change_status(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: Reception of state check command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state & 0x10) { // state change error
+ EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
+ " (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
+ slave->current_state);
+
+ fsm->change_new = slave->current_state & 0x0F;
+
+ // fetch AL status error code
+ ec_command_nprd(command, slave->station_address, 0x0134, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_code;
+ return;
+ }
+
+ if (slave->current_state == fsm->change_new) {
+ fsm->change_state = ec_fsm_change_end;
+ return;
+ }
+
+ EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
+ fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Code.
+*/
+
+void ec_fsm_change_code(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint32_t code;
+ const ec_code_msg_t *al_msg;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM: Reception of AL status code command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if ((code = EC_READ_U16(command->data))) {
+ for (al_msg = al_status_messages; al_msg->code; al_msg++) {
+ if (al_msg->code != code) continue;
+ EC_ERR("AL status message 0x%04X: \"%s\".\n",
+ al_msg->code, al_msg->message);
+ break;
+ }
+ if (!al_msg->code)
+ EC_ERR("Unknown AL status code 0x%04X.\n", code);
+ }
+
+ // acknowledge "old" slave state
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, slave->current_state);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Acknowledge.
+*/
+
+void ec_fsm_change_ack(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: Reception of state ack command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ // read new AL status
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack2;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Acknowledge 2.
+*/
+
+void ec_fsm_change_ack2(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: Reception of state ack check command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
+ slave->current_state, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
+ " - Timeout!\n", fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: End.
+*/
+
+void ec_fsm_change_end(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State change state: Error.
+*/
+
+void ec_fsm_change_error(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Application layer status messages.
+*/
+
+const ec_code_msg_t al_status_messages[] = {
+ {0x0001, "Unspecified error"},
+ {0x0011, "Invalud requested state change"},
+ {0x0012, "Unknown requested state"},
+ {0x0013, "Bootstrap not supported"},
+ {0x0014, "No valid firmware"},
+ {0x0015, "Invalid mailbox configuration"},
+ {0x0016, "Invalid mailbox configuration"},
+ {0x0017, "Invalid sync manager configuration"},
+ {0x0018, "No valid inputs available"},
+ {0x0019, "No valid outputs"},
+ {0x001A, "Synchronisation error"},
+ {0x001B, "Sync manager watchdog"},
+ {0x0020, "Slave needs cold start"},
+ {0x0021, "Slave needs INIT"},
+ {0x0022, "Slave needs PREOP"},
+ {0x0023, "Slave needs SAVEOP"},
+ {}
+};
+
+/*****************************************************************************/
--- a/master/fsm.h Fri May 19 09:56:55 2006 +0000
+++ b/master/fsm.h Fri May 19 13:23:11 2006 +0000
@@ -76,6 +76,9 @@
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) */
+
+ void (*change_state)(ec_fsm_t *); /**< slave state change state function */
+ uint8_t change_new; /**< input: new state */
};
/*****************************************************************************/
@@ -84,7 +87,6 @@
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 *);
/*****************************************************************************/
--- a/master/globals.h Fri May 19 09:56:55 2006 +0000
+++ b/master/globals.h Fri May 19 13:23:11 2006 +0000
@@ -115,6 +115,7 @@
extern void ec_print_data(const uint8_t *, size_t);
extern void ec_print_data_diff(const uint8_t *, const uint8_t *, size_t);
+extern void ec_print_states(uint8_t);
/*****************************************************************************/
--- a/master/master.c Fri May 19 09:56:55 2006 +0000
+++ b/master/master.c Fri May 19 13:23:11 2006 +0000
@@ -56,7 +56,7 @@
/*****************************************************************************/
void ec_master_freerun(void *);
-void ec_master_run_eoe(unsigned long);
+void ec_master_eoe_run(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
@@ -94,30 +94,51 @@
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
- unsigned int index /**< master index */
+ unsigned int index, /**< master index */
+ unsigned int eoe_devices /**< number of EoE devices */
)
{
+ ec_eoe_t *eoe, *next_eoe;
+ unsigned int i;
+
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);
+ INIT_LIST_HEAD(&master->eoe_handlers);
ec_command_init(&master->simple_command);
INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
init_timer(&master->eoe_timer);
- master->eoe_timer.function = ec_master_run_eoe;
+ master->eoe_timer.function = ec_master_eoe_run;
master->eoe_timer.data = (unsigned long) master;
+ master->internal_lock = SPIN_LOCK_UNLOCKED;
+ master->eoe_running = 0;
+
+ // create workqueue
+ if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
+ EC_ERR("Failed to create master workqueue.\n");
+ goto out_return;
+ }
+
+ // create EoE handlers
+ for (i = 0; i < eoe_devices; i++) {
+ if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate EoE-Object.\n");
+ goto out_clear_eoe;
+ }
+ if (ec_eoe_init(eoe)) {
+ kfree(eoe);
+ goto out_clear_eoe;
+ }
+ list_add_tail(&eoe->list, &master->eoe_handlers);
+ }
+
+ // create state machine object
+ if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;
// init kobject and add it to the hierarchy
memset(&master->kobj, 0x00, sizeof(struct kobject));
@@ -132,7 +153,12 @@
ec_master_reset(master);
return 0;
- out_free_wq:
+ out_clear_eoe:
+ list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+ list_del(&eoe->list);
+ ec_eoe_clear(eoe);
+ kfree(eoe);
+ }
destroy_workqueue(master->workqueue);
out_return:
return -1;
@@ -149,6 +175,7 @@
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
+ ec_eoe_t *eoe, *next_eoe;
EC_INFO("Clearing master %i...\n", master->index);
@@ -157,6 +184,13 @@
ec_command_clear(&master->simple_command);
destroy_workqueue(master->workqueue);
+ // clear EoE objects
+ list_for_each_entry_safe(eoe, next_eoe, &master->eoe_handlers, list) {
+ list_del(&eoe->list);
+ ec_eoe_clear(eoe);
+ kfree(eoe);
+ }
+
if (master->device) {
ec_device_clear(master->device);
kfree(master->device);
@@ -177,14 +211,9 @@
{
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
- ec_eoe_t *eoe, *next_eoe;
-
- // stop EoE processing
- del_timer_sync(&master->eoe_timer);
-
- // stop free-run mode
+
+ ec_master_eoe_stop(master);
ec_master_freerun_stop(master);
-
ec_master_clear_slaves(master);
// empty command queue
@@ -200,13 +229,6 @@
kobject_put(&domain->kobj);
}
- // clear EoE objects
- list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {
- list_del(&eoe->list);
- ec_eoe_clear(eoe);
- kfree(eoe);
- }
-
master->command_index = 0;
master->debug_level = 0;
master->timeout = 500; // 500us
@@ -674,6 +696,8 @@
{
if (master->mode != EC_MASTER_MODE_FREERUN) return;
+ ec_master_eoe_stop(master);
+
EC_INFO("Stopping Free-Run mode.\n");
if (!cancel_delayed_work(&master->freerun_work)) {
@@ -693,18 +717,21 @@
void ec_master_freerun(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
- unsigned long delay;
+
+ // aquire master lock
+ spin_lock_bh(&master->internal_lock);
ecrt_master_async_receive(master);
- // execute freerun state machine
+ // execute master state machine
ec_fsm_execute(&master->fsm);
ecrt_master_async_send(master);
- delay = HZ / 100;
- if (ec_fsm_idle(&master->fsm)) delay = HZ;
- queue_delayed_work(master->workqueue, &master->freerun_work, delay);
+ // release master lock
+ spin_unlock_bh(&master->internal_lock);
+
+ queue_delayed_work(master->workqueue, &master->freerun_work, HZ / 100);
}
/*****************************************************************************/
@@ -799,31 +826,130 @@
/*****************************************************************************/
/**
+ Starts Ethernet-over-EtherCAT processing for all EoE-capable slaves.
+*/
+
+void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+ ec_slave_t *slave;
+ unsigned int coupled, found;
+
+ if (master->eoe_running) return;
+
+ // decouple all EoE handlers
+ list_for_each_entry(eoe, &master->eoe_handlers, list)
+ eoe->slave = NULL;
+ coupled = 0;
+
+ // couple a free EoE handler to every EoE-capable slave
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
+
+ found = 0;
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (eoe->slave) continue;
+ eoe->slave = slave;
+ found = 1;
+ coupled++;
+ EC_INFO("Coupling device %s to slave %i.\n",
+ eoe->dev->name, slave->ring_position);
+ if (eoe->opened)
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ }
+
+ if (!found) {
+ EC_WARN("No EoE handler for slave %i!\n", slave->ring_position);
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
+ }
+
+ if (!coupled) {
+ EC_INFO("No EoE handlers coupled.\n");
+ return;
+ }
+
+ EC_INFO("Starting EoE processing.\n");
+ master->eoe_running = 1;
+
+ // start EoE processing
+ master->eoe_timer.expires = jiffies + 10;
+ add_timer(&master->eoe_timer);
+ return;
+}
+
+/*****************************************************************************/
+
+/**
+ Stops the Ethernet-over-EtherCAT processing.
+*/
+
+void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+
+ if (!master->eoe_running) return;
+
+ EC_INFO("Stopping EoE processing.\n");
+
+ del_timer_sync(&master->eoe_timer);
+
+ // decouple all EoE handlers
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (eoe->slave) {
+ eoe->slave->requested_state = EC_SLAVE_STATE_INIT;
+ eoe->slave = NULL;
+ }
+ }
+
+ master->eoe_running = 0;
+}
+
+/*****************************************************************************/
+
+/**
Does the Ethernet-over-EtherCAT processing.
*/
-void ec_master_run_eoe(unsigned long data /**< master pointer */)
+void ec_master_eoe_run(unsigned long data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
unsigned int active = 0;
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_active(eoe)) active++;
}
-
- // request_cb must return 0, if the lock has been aquired!
- if (active && !master->request_cb(master->cb_data))
- {
- ecrt_master_async_receive(master);
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
- ec_eoe_run(eoe);
- }
- ecrt_master_async_send(master);
-
+ if (!active) goto queue_timer;
+
+ // aquire master lock...
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
+ // request_cb must return 0, if the lock has been aquired!
+ if (master->request_cb(master->cb_data))
+ goto queue_timer;
+ }
+ else if (master->mode == EC_MASTER_MODE_FREERUN) {
+ spin_lock(&master->internal_lock);
+ }
+ else
+ goto queue_timer;
+
+ // actual EoE stuff
+ ecrt_master_async_receive(master);
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ ec_eoe_run(eoe);
+ }
+ ecrt_master_async_send(master);
+
+ // release lock...
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
master->release_cb(master->cb_data);
}
-
+ else if (master->mode == EC_MASTER_MODE_FREERUN) {
+ spin_unlock(&master->internal_lock);
+ }
+
+ queue_timer:
master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
add_timer(&master->eoe_timer);
}
@@ -1404,37 +1530,12 @@
int ecrt_master_start_eoe(ec_master_t *master /**< EtherCAT master */)
{
- ec_eoe_t *eoe;
- ec_slave_t *slave;
-
if (!master->request_cb || !master->release_cb) {
EC_ERR("EoE requires master callbacks to be set!\n");
return -1;
}
- list_for_each_entry(slave, &master->slaves, list) {
- // does the slave support EoE?
- if (!(slave->sii_mailbox_protocols & EC_MBOX_EOE)) continue;
-
- if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate EoE-Object.\n");
- return -1;
- }
- if (ec_eoe_init(eoe, slave)) {
- kfree(eoe);
- return -1;
- }
- list_add_tail(&eoe->list, &master->eoe_slaves);
- }
-
- if (list_empty(&master->eoe_slaves)) {
- EC_WARN("start_eoe: no EoE-capable slaves present.\n");
- return 0;
- }
-
- // start EoE processing
- master->eoe_timer.expires = jiffies + 10;
- add_timer(&master->eoe_timer);
+ ec_master_eoe_start(master);
return 0;
}
@@ -1482,9 +1583,9 @@
list_for_each_entry(slave, &master->slaves, list)
ec_slave_print(slave, verbosity);
}
- if (!list_empty(&master->eoe_slaves)) {
+ if (!list_empty(&master->eoe_handlers)) {
EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_print(eoe);
}
}
--- a/master/master.h Fri May 19 09:56:55 2006 +0000
+++ b/master/master.h Fri May 19 13:23:11 2006 +0000
@@ -116,7 +116,9 @@
ec_master_mode_t mode; /**< master mode */
struct timer_list eoe_timer; /** EoE timer object */
- struct list_head eoe_slaves; /**< Ethernet-over-EtherCAT slaves */
+ unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
+ struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
+ spinlock_t internal_lock; /**< spinlock used in freerun mode */
int (*request_cb)(void *); /**< lock request callback */
void (*release_cb)(void *); /**< lock release callback */
void *cb_data; /**< data parameter of locking callbacks */
@@ -125,7 +127,7 @@
/*****************************************************************************/
// master creation and deletion
-int ec_master_init(ec_master_t *, unsigned int);
+int ec_master_init(ec_master_t *, unsigned int, unsigned int);
void ec_master_clear(struct kobject *);
void ec_master_reset(ec_master_t *);
@@ -133,6 +135,10 @@
void ec_master_freerun_start(ec_master_t *);
void ec_master_freerun_stop(ec_master_t *);
+// EoE
+void ec_master_eoe_start(ec_master_t *);
+void ec_master_eoe_stop(ec_master_t *);
+
// IO
void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_command(ec_master_t *, ec_command_t *);
@@ -143,6 +149,9 @@
// misc.
void ec_master_clear_slaves(ec_master_t *);
+void ec_sync_config(const ec_sync_t *, uint8_t *);
+void ec_eeprom_sync_config(const ec_eeprom_sync_t *, uint8_t *);
+void ec_fmmu_config(const ec_fmmu_t *, uint8_t *);
void ec_master_output_stats(ec_master_t *);
/*****************************************************************************/
--- a/master/module.c Fri May 19 09:56:55 2006 +0000
+++ b/master/module.c Fri May 19 13:23:11 2006 +0000
@@ -67,19 +67,22 @@
/*****************************************************************************/
static int ec_master_count = 1;
+static int ec_eoe_devices = 0;
static struct list_head ec_masters;
/*****************************************************************************/
/** \cond */
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT master driver module");
+module_param(ec_master_count, int, S_IRUGO);
+module_param(ec_eoe_devices, int, S_IRUGO);
+
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(COMPILE_INFO);
-
-module_param(ec_master_count, int, 1);
MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");
+MODULE_PARM_DESC(ec_eoe_devices, "number of EoE devices per master");
/** \endcond */
@@ -114,7 +117,7 @@
goto out_free;
}
- if (ec_master_init(master, i)) // kobject_put is done inside...
+ if (ec_master_init(master, i, ec_eoe_devices))
goto out_free;
if (kobject_add(&master->kobj)) {
@@ -228,6 +231,41 @@
printk("\n");
}
+/*****************************************************************************/
+
+/**
+ Prints slave states in clear text.
+*/
+
+void ec_print_states(const uint8_t states /**< slave states */)
+{
+ unsigned int first = 1;
+
+ if (!states) {
+ printk("(unknown)");
+ return;
+ }
+
+ if (states & EC_SLAVE_STATE_INIT) {
+ printk("INIT");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_PREOP) {
+ if (!first) printk(", ");
+ printk("PREOP");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_SAVEOP) {
+ if (!first) printk(", ");
+ printk("SAVEOP");
+ first = 0;
+ }
+ if (states & EC_SLAVE_STATE_OP) {
+ if (!first) printk(", ");
+ printk("OP");
+ }
+}
+
/******************************************************************************
* Device interface
*****************************************************************************/
--- a/master/slave.c Fri May 19 09:56:55 2006 +0000
+++ b/master/slave.c Fri May 19 13:23:11 2006 +0000
@@ -48,6 +48,10 @@
/*****************************************************************************/
+extern const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
int ec_slave_fetch_categories(ec_slave_t *);
ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
@@ -89,10 +93,6 @@
/*****************************************************************************/
-const ec_code_msg_t al_status_messages[];
-
-/*****************************************************************************/
-
/**
Slave constructor.
\return 0 in case of success, else < 0
@@ -144,6 +144,9 @@
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
+ slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+ slave->state_error = 0;
ec_command_init(&slave->mbox_command);
@@ -1261,32 +1264,6 @@
return 0;
}
-/*****************************************************************************/
-
-/**
- Application layer status messages.
-*/
-
-const ec_code_msg_t al_status_messages[] = {
- {0x0001, "Unspecified error"},
- {0x0011, "Invalud requested state change"},
- {0x0012, "Unknown requested state"},
- {0x0013, "Bootstrap not supported"},
- {0x0014, "No valid firmware"},
- {0x0015, "Invalid mailbox configuration"},
- {0x0016, "Invalid mailbox configuration"},
- {0x0017, "Invalid sync manager configuration"},
- {0x0018, "No valid inputs available"},
- {0x0019, "No valid outputs"},
- {0x001A, "Synchronisation error"},
- {0x001B, "Sync manager watchdog"},
- {0x0020, "Slave needs cold start"},
- {0x0021, "Slave needs INIT"},
- {0x0022, "Slave needs PREOP"},
- {0x0023, "Slave needs SAVEOP"},
- {}
-};
-
/******************************************************************************
* Realtime interface
*****************************************************************************/
--- a/master/slave.h Fri May 19 09:56:55 2006 +0000
+++ b/master/slave.h Fri May 19 13:23:11 2006 +0000
@@ -272,6 +272,10 @@
struct list_head sdo_dictionary; /**< SDO directory list */
ec_command_t mbox_command; /**< mailbox command */
+
+ ec_slave_state_t requested_state; /**< requested slave state */
+ ec_slave_state_t current_state; /**< current slave state */
+ unsigned int state_error; /**< a state error has happened */
};
/*****************************************************************************/
--- a/script/ethercat.sh Fri May 19 09:56:55 2006 +0000
+++ b/script/ethercat.sh Fri May 19 13:23:11 2006 +0000
@@ -73,6 +73,10 @@
rc_exit
fi
+ if [ ! $EOE_DEVICES ]; then
+ EOE_DEVICES=0
+ fi
+
for mod in 8139too 8139cp; do
if lsmod | grep "^$mod " > /dev/null; then
if ! rmmod $mod; then
@@ -83,7 +87,17 @@
fi
done
- modprobe ec_8139too ec_device_index=$DEVICE_INDEX
+ if ! modprobe ec_master ec_eoe_devices=$EOE_DEVICES; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
+
+ if ! modprobe ec_8139too ec_device_index=$DEVICE_INDEX; then
+ /bin/false
+ rc_status -v
+ rc_exit
+ fi
rc_status -v
;;
--- a/script/sysconfig Fri May 19 09:56:55 2006 +0000
+++ b/script/sysconfig Fri May 19 13:23:11 2006 +0000
@@ -13,7 +13,7 @@
#DEVICE_INDEX=99
#
-# Number of Ethernet-over-EtherCAT devices the master shall create
+# Number of Ethernet-over-EtherCAT devices every master shall create
# on startup. Default is 0.
#
#EOE_DEVICES=0