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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; either version 2 of the
* License, or (at your option) any later version.
*
* 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
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT finite state machines.
*/
/*****************************************************************************/
#include "globals.h"
#include "fsm.h"
#include "master.h"
/*****************************************************************************/
#define EC_CAT_MEM 0x100
/*****************************************************************************/
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_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_status(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_category_header(ec_fsm_t *);
void ec_fsm_slave_category_data(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 *);
void ec_fsm_sii_fetch(ec_fsm_t *);
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)
{
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);
}
/******************************************************************************
* 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 topology_change, i, eoe_slaves_active;
ec_slave_t *slave;
if (command->state != EC_CMD_RECEIVED) {
if (!fsm->master->device->link_state)
// treat link down as topology change
fsm->master_slaves_responding = 0;
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)
{
// 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;
}
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");
ec_print_states(fsm->master_slave_states);
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;
}
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) {
// 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_start;
return;
}
if (ec_slave_init(slave, fsm->master, i, i + 1)) {
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_start;
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_reading;
fsm->master_state = ec_fsm_master_scan;
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
State: Get Slave.
Executes the sub-statemachine of a slave.
*/
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_end) return;
// have all slaves been fetched?
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_reading;
fsm->slave_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Free-Run state: Configure slaves.
*/
void ec_fsm_master_conf(ec_fsm_t *fsm)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
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
}
/******************************************************************************
* 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_reading(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_status;
}
/*****************************************************************************/
/**
Slave state: Read status.
*/
void ec_fsm_slave_read_status(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_end;
return;
}
// read AL status
ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);
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;
ec_slave_t *slave = fsm->slave;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("FSM failed to read AL status of slave %i.\n",
fsm->slave->ring_position);
fsm->slave_state = ec_fsm_slave_end;
return;
}
slave->current_state = EC_READ_U8(command->data);
if (slave->current_state & EC_ACK) {
EC_WARN("Slave %i has status error bit set (0x%02X)!\n",
slave->ring_position, slave->current_state);
slave->current_state &= 0x0F;
}
// 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_end;
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_end;
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_end;
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_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;
}
fsm->slave_sii_num++;
fsm->sii_state = ec_fsm_sii_start_reading;
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_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;
}
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_end;
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_end;
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_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);
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_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_end(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)
{
}
/******************************************************************************
* 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"},
{}
};
/*****************************************************************************/
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