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ethercat
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Added finite state machine (FSM) processing.

This commit is contained in:
Florian Pose 2006-05-16 11:57:06 +00:00
parent dbb65b089d
commit 13c2904e0b
8 changed files with 941 additions and 233 deletions
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2
master/Makefile
View File

@ -33,7 +33,7 @@ ifneq ($(KERNELRELEASE),)
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)

1
master/command.h
View File

@ -115,6 +115,7 @@ ec_command_t;
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);

787
master/fsm.c Normal file
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@ -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)
{
}
/*****************************************************************************/

81
master/fsm.h Normal file
View File

@ -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

275
master/master.c
View File

@ -54,11 +54,6 @@ void ec_master_run_eoe(void *);
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 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
{
EC_INFO("Initializing master %i.\n", index);
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
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);
INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);
// init eoe timer
@ -133,14 +125,15 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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 @@ void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
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_clear(struct kobject *kobj /**< kobject of the master */)
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 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
// 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 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
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 @@ void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
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_simple_io(ec_master_t *master, /**< EtherCAT master */
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;
unsigned int i;
ec_command_t *command;
unsigned int i;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
@ -540,7 +541,8 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
// 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 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
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 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
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 @@ void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
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_start(ec_master_t *master /**< EtherCAT master */)
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 @@ void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
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_stop(ec_master_t *master /**< EtherCAT master */)
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);
}
/*****************************************************************************/
@ -913,53 +804,6 @@ ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
/*****************************************************************************/
/**
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 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
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 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
return -1;
}
master->slaves_responding = 0;
master->slave_states = EC_SLAVE_STATE_INIT;
return 0;
}
@ -1443,9 +1277,8 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
// 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);
}
/*****************************************************************************/

8
master/master.h
View File

@ -37,6 +37,7 @@
#include "device.h"
#include "domain.h"
#include "fsm.h"
/*****************************************************************************/
@ -94,9 +95,6 @@ struct ec_master
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 @@ struct ec_master
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_simple_io(ec_master_t *, ec_command_t *);
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 *);
/*****************************************************************************/

13
master/slave.c
View File

@ -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(coupler_address);
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 @@ static struct attribute *def_attrs[] = {
&attr_vendor_name,
&attr_product_name,
&attr_product_desc,
&attr_sii_desc,
&attr_type,
NULL,
};
@ -492,6 +489,7 @@ int ec_slave_sii_write16(ec_slave_t *slave,
/**
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 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
/**
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 @@ ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
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)

7
master/slave.h
View File

@ -282,6 +282,13 @@ int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
// 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 *);