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ethercat/master/fsm.c

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/******************************************************************************
*
* $Id$
*
* 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)
{
}
/*****************************************************************************/
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