AL state timeout lookup logic.

include/ecrt.h

@@ -2014,8 +2014,9 @@ EC_PUBLIC_API int ecrt_slave_config_eoe_hostname(
  *
  * Change the maximum allowed time for a slave to make an application-layer
  * state transition for the given state transition (for example from PREOP to
- * SAFEOP). The default timeout is 10 s. Some transitions of specific slaves
+ * SAFEOP). The default values are defined in ETG.2000.
- * may take longer.
+ *
+ * A timeout value of zero ms will restore the default value.
  *
  * This method has to be called in non-realtime context before
  * ecrt_master_activate().

master/fsm_change.c

@@ -29,17 +29,11 @@
 #include "globals.h"
 #include "master.h"
 #include "fsm_change.h"
+#include "slave_config.h"
 
 /****************************************************************************/
 
-/** Timeout while waiting for AL state change [s].
+unsigned int ec_fsm_change_timeout_ms(const ec_fsm_change_t *);
- *
- * ETG2000_S_R_V1i0i15 section 5.3.7.2 mentions 10 s as maximum AL state
- * change timeout.
- */
-#define EC_AL_STATE_CHANGE_TIMEOUT 10
-
-/****************************************************************************/
 
 void ec_fsm_change_state_start(ec_fsm_change_t *);
 void ec_fsm_change_state_check(ec_fsm_change_t *);
@@ -78,6 +72,50 @@ void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
 
 /****************************************************************************/
 
+/** Get timeout in ms.
+ *
+ * For defaults see ETG2000_S_R_V1i0i15 section 5.3.6.2.
+ */
+unsigned int ec_fsm_change_timeout_ms(
+        const ec_fsm_change_t *fsm /**< finite state machine */
+        )
+{
+    ec_slave_state_t from = fsm->old_state;
+    ec_slave_state_t to = fsm->requested_state;
+
+    /* Search for specified timeout in slave configuration */
+    if (fsm->slave->config) {
+        unsigned int timeout_ms =
+            ec_slave_config_al_timeout(fsm->slave->config, from, to);
+        if (timeout_ms) {
+            return timeout_ms;
+        }
+    }
+
+    /* No specific timeout found. Use defaults from spec. */
+
+    if (from == EC_SLAVE_STATE_INIT &&
+            (to == EC_SLAVE_STATE_PREOP || to == EC_SLAVE_STATE_BOOT)) {
+        return 3000; // PreopTimeout
+    }
+    if ((from == EC_SLAVE_STATE_PREOP && to == EC_SLAVE_STATE_SAFEOP) ||
+            (from == EC_SLAVE_STATE_SAFEOP && to == EC_SLAVE_STATE_OP)) {
+        return 10000; // SafeopOpTimeout
+    }
+    if (to == EC_SLAVE_STATE_INIT ||
+            ((from == EC_SLAVE_STATE_OP || from == EC_SLAVE_STATE_SAFEOP)
+             && to == EC_SLAVE_STATE_PREOP)) {
+        return 5000; // BackToInitTimeout
+    }
+    if (from == EC_SLAVE_STATE_OP && to == EC_SLAVE_STATE_SAFEOP) {
+        return 200; // BackToSafeopTimeout
+    }
+
+    return 10000; // default [ms]
+}
+
+/****************************************************************************/
+
 /**
    Starts the change state machine.
 */
@@ -234,6 +272,7 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
 {
     ec_datagram_t *datagram = fsm->datagram;
     ec_slave_t *slave = fsm->slave;
+    unsigned int timeout_ms;
 
     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
         return;
@@ -297,13 +336,15 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
 
     // still old state
 
+    timeout_ms = ec_fsm_change_timeout_ms(fsm);
     if (datagram->jiffies_received - fsm->jiffies_start >=
-            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
+            timeout_ms * HZ / 1000) {
         // timeout while checking
         char state_str[EC_STATE_STRING_SIZE];
         ec_state_string(fsm->requested_state, state_str, 0);
         fsm->state = ec_fsm_change_state_error;
-        EC_SLAVE_ERR(slave, "Timeout while setting state %s.\n", state_str);
+        EC_SLAVE_ERR(slave, "Timeout after %u ms while setting state %s.\n",
+                timeout_ms, state_str);
         return;
     }
 
@@ -492,6 +533,7 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
 {
     ec_datagram_t *datagram = fsm->datagram;
     ec_slave_t *slave = fsm->slave;
+    unsigned int timeout_ms;
 
     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
         return;
@@ -530,14 +572,15 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
         return;
     }
 
+    timeout_ms = ec_fsm_change_timeout_ms(fsm);
     if (datagram->jiffies_received - fsm->jiffies_start >=
-            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
+            timeout_ms * HZ / 1000) {
         // timeout while checking
         char state_str[EC_STATE_STRING_SIZE];
         ec_state_string(slave->current_state, state_str, 0);
         fsm->state = ec_fsm_change_state_error;
-        EC_SLAVE_ERR(slave, "Timeout while acknowledging state %s.\n",
+        EC_SLAVE_ERR(slave, "Timeout after %u ms while acknowledging"
-                state_str);
+                " state %s.\n", timeout_ms, state_str);
         return;
     }
 

master/slave_config.c

@@ -45,6 +45,25 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+int ec_slave_config_prepare_fmmu(ec_slave_config_t *, ec_domain_t *, uint8_t,
+        ec_direction_t);
+void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
+        ec_pdo_t *);
+
+/****************************************************************************/
+
+/** EtherCAT application-layer transition timeout.
+ */
+typedef struct {
+    struct list_head list;
+    ec_slave_state_t from;
+    ec_slave_state_t to;
+    unsigned int timeout_ms;
+} ec_al_timeout_t;
+
+/****************************************************************************/
+
 /** Slave configuration constructor.
  *
  * See ecrt_master_slave_config() for the usage of the \a alias and \a
@@ -89,6 +108,7 @@ void ec_slave_config_init(
     INIT_LIST_HEAD(&sc->voe_handlers);
     INIT_LIST_HEAD(&sc->soe_configs);
     INIT_LIST_HEAD(&sc->flags);
+    INIT_LIST_HEAD(&sc->al_timeouts);
 
 #ifdef EC_EOE
     ec_eoe_request_init(&sc->eoe_ip_param_request);
@@ -113,6 +133,7 @@ void ec_slave_config_clear(
     ec_reg_request_t *reg, *next_reg;
     ec_soe_request_t *soe, *next_soe;
     ec_flag_t *flag, *next_flag;
+    ec_al_timeout_t *timeout, *next_timeout;
 
     ec_slave_config_detach(sc);
 
@@ -169,6 +190,12 @@ void ec_slave_config_clear(
         kfree(flag);
     }
 
+    // free all AL timeouts
+    list_for_each_entry_safe(timeout, next_timeout, &sc->al_timeouts, list) {
+        list_del(&timeout->list);
+        kfree(timeout);
+    }
+
     ec_coe_emerg_ring_clear(&sc->emerg_ring);
 }
 
@@ -625,6 +652,26 @@ ec_flag_t *ec_slave_config_find_flag(
     return NULL;
 }
 
+/****************************************************************************/
+
+/** Return an AL state timeout.
+ *
+ * \return Search result, or 0.
+ */
+unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *sc,
+        ec_slave_state_t from, ec_slave_state_t to)
+{
+    ec_al_timeout_t *timeout;
+
+    list_for_each_entry(timeout, &sc->al_timeouts, list) {
+        if (timeout->from == from && timeout->to == to) {
+            return timeout->timeout_ms;
+        }
+    }
+
+    return 0;
+}
+
 /*****************************************************************************
  *  Application interface
  ****************************************************************************/
@@ -1504,6 +1551,64 @@ int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
 
 /****************************************************************************/
 
+int ecrt_slave_config_state_timeout(ec_slave_config_t *sc,
+        ec_al_state_t from, ec_al_state_t to, unsigned int timeout_ms)
+{
+    ec_al_timeout_t *timeout;
+    ec_slave_state_t from_state, to_state;
+
+    if (from != EC_AL_STATE_INIT && from != EC_AL_STATE_PREOP &&
+            from != EC_AL_STATE_SAFEOP && from != EC_AL_STATE_OP) {
+        EC_CONFIG_ERR(sc, "Invalid from state %i.\n", from);
+        return -EINVAL;
+    }
+    if (to != EC_AL_STATE_INIT && to != EC_AL_STATE_PREOP &&
+            to != EC_AL_STATE_SAFEOP && to != EC_AL_STATE_OP) {
+        EC_CONFIG_ERR(sc, "Invalid to state %i.\n", to);
+        return -EINVAL;
+    }
+
+    from_state = (ec_slave_state_t) from;
+    to_state = (ec_slave_state_t) to;
+
+    /* try to find an already configured timeout. */
+    list_for_each_entry(timeout, &sc->al_timeouts, list) {
+        if (timeout->from == from_state && timeout->to == to_state) {
+            if (timeout_ms == 0) {
+                // delete configured value
+                list_del(&timeout->list);
+                kfree(timeout);
+                return 0;
+            }
+            timeout->timeout_ms = timeout_ms;
+            return 0;
+        }
+    }
+
+    if (timeout_ms == 0) {
+        return 0;
+    }
+
+    /* no timeout found. create one. */
+    if (!(timeout = (ec_al_timeout_t *)
+          kmalloc(sizeof(ec_al_timeout_t), GFP_KERNEL))) {
+        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
+                " AL timeout configuration!\n");
+        return -ENOMEM;
+    }
+
+    timeout->from = from_state;
+    timeout->to = to_state;
+    timeout->timeout_ms = timeout_ms;
+
+    down(&sc->master->master_sem);
+    list_add_tail(&timeout->list, &sc->al_timeouts);
+    up(&sc->master->master_sem);
+    return 0;
+}
+
+/****************************************************************************/
+
 /** \cond */
 
 EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
@@ -1540,6 +1645,7 @@ EXPORT_SYMBOL(ecrt_slave_config_eoe_default_gateway);
 EXPORT_SYMBOL(ecrt_slave_config_eoe_dns_address);
 EXPORT_SYMBOL(ecrt_slave_config_eoe_hostname);
 #endif
+EXPORT_SYMBOL(ecrt_slave_config_state_timeout);
 
 /** \endcond */
 

master/slave_config.h

@@ -140,6 +140,7 @@ struct ec_slave_config {
     struct list_head reg_requests; /**< List of register requests. */
     struct list_head soe_configs; /**< List of SoE configurations. */
     struct list_head flags; /**< List of feature flags. */
+    struct list_head al_timeouts; /**< List of specific AL state timeouts. */
 
 #ifdef EC_EOE
     ec_eoe_request_t eoe_ip_param_request; /**< EoE IP parameters. */
@@ -187,6 +188,9 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
 ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
         ec_slave_config_t *, size_t);
 
+unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *,
+        ec_slave_state_t, ec_slave_state_t);
+
 /****************************************************************************/
 
 #endif