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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/**

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   \file

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   EtherCAT finite state machines.

    37

*/

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    39

/*****************************************************************************/

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    41

#include "globals.h"

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#include "fsm.h"

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#include "master.h"

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    45

/*****************************************************************************/

    46

    47

void ec_fsm_master_start(ec_fsm_t *);

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void ec_fsm_master_broadcast(ec_fsm_t *);

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void ec_fsm_master_read_states(ec_fsm_t *);

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void ec_fsm_master_validate_vendor(ec_fsm_t *);

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void ec_fsm_master_validate_product(ec_fsm_t *);

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void ec_fsm_master_rewrite_addresses(ec_fsm_t *);

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void ec_fsm_master_configure_slave(ec_fsm_t *);

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void ec_fsm_master_scan_slaves(ec_fsm_t *);

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void ec_fsm_master_write_eeprom(ec_fsm_t *);

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    57

void ec_fsm_slave_start_reading(ec_fsm_t *);

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void ec_fsm_slave_read_state(ec_fsm_t *);

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void ec_fsm_slave_read_base(ec_fsm_t *);

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void ec_fsm_slave_read_dl(ec_fsm_t *);

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void ec_fsm_slave_eeprom_size(ec_fsm_t *);

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void ec_fsm_slave_fetch_eeprom(ec_fsm_t *);

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void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *);

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void ec_fsm_slave_end(ec_fsm_t *);

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void ec_fsm_slave_conf(ec_fsm_t *);

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void ec_fsm_slave_sync(ec_fsm_t *);

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void ec_fsm_slave_preop(ec_fsm_t *);

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void ec_fsm_slave_fmmu(ec_fsm_t *);

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void ec_fsm_slave_saveop(ec_fsm_t *);

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void ec_fsm_slave_op(ec_fsm_t *);

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void ec_fsm_slave_op2(ec_fsm_t *);

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void ec_fsm_sii_start_reading(ec_fsm_t *);

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void ec_fsm_sii_read_check(ec_fsm_t *);

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void ec_fsm_sii_read_fetch(ec_fsm_t *);

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void ec_fsm_sii_start_writing(ec_fsm_t *);

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void ec_fsm_sii_write_check(ec_fsm_t *);

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void ec_fsm_sii_write_check2(ec_fsm_t *);

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void ec_fsm_sii_end(ec_fsm_t *);

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void ec_fsm_sii_error(ec_fsm_t *);

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void ec_fsm_change_start(ec_fsm_t *);

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void ec_fsm_change_check(ec_fsm_t *);

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void ec_fsm_change_status(ec_fsm_t *);

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void ec_fsm_change_code(ec_fsm_t *);

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void ec_fsm_change_ack(ec_fsm_t *);

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void ec_fsm_change_ack2(ec_fsm_t *);

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void ec_fsm_change_end(ec_fsm_t *);

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void ec_fsm_change_error(ec_fsm_t *);

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    92

/*****************************************************************************/

    93

    94

/**

    95

   Constructor.

    96

*/

    97

    98

int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */

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                ec_master_t *master /**< EtherCAT master */

   100

    )

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{

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    fsm->master = master;

   103

    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

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    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

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    fsm->master_validation = 0;

   107

   108

    ec_datagram_init(&fsm->datagram);

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    if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {

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        EC_ERR("Failed to allocate FSM datagram.\n");

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        return -1;

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    }

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    return 0;

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}

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   117

/*****************************************************************************/

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   119

/**

   120

   Destructor.

   121

*/

   122

   123

void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)

   124

{

   125

    ec_datagram_clear(&fsm->datagram);

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}

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   128

/*****************************************************************************/

   129

   130

/**

   131

   Resets the state machine.

   132

*/

   133

   134

void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)

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{

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    fsm->master_state = ec_fsm_master_start;

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    fsm->master_slaves_responding = 0;

   138

    fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;

   139

}

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   141

/*****************************************************************************/

   142

   143

/**

   144

   Executes the current state of the state machine.

   145

*/

   146

   147

void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)

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{

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    fsm->master_state(fsm);

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}

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   152

/******************************************************************************

   153

 *  master state machine

   154

 *****************************************************************************/

   155

   156

/**

   157

   Master state: START.

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   Starts with getting slave count and slave states.

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*/

   160

   161

void ec_fsm_master_start(ec_fsm_t *fsm)

   162

{

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    ec_datagram_brd(&fsm->datagram, 0x0130, 2);

   164

    ec_master_queue_datagram(fsm->master, &fsm->datagram);

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    fsm->master_state = ec_fsm_master_broadcast;

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}

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   168

/*****************************************************************************/

   169

   170

/**

   171

   Master state: BROADCAST.

   172

   Processes the broadcast read slave count and slaves states.

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*/

   174

   175

void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)

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{

   177

    ec_datagram_t *datagram = &fsm->datagram;

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    unsigned int topology_change, states_change, i;

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    ec_slave_t *slave;

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    ec_master_t *master = fsm->master;

   181

   182

    if (datagram->state != EC_CMD_RECEIVED) {

   183

        if (!master->device->link_state) {

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            fsm->master_slaves_responding = 0;

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            list_for_each_entry(slave, &master->slaves, list) {

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                slave->online = 0;

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            }

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        }

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        fsm->master_state = ec_fsm_master_start;

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        fsm->master_state(fsm); // execute immediately

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        return;

   192

    }

   193

   194

    topology_change = (datagram->working_counter !=

   195

                       fsm->master_slaves_responding);

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    states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);

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   198

    fsm->master_slave_states = EC_READ_U8(datagram->data);

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    fsm->master_slaves_responding = datagram->working_counter;

   200

   201

    if (topology_change) {

   202

        EC_INFO("%i slave%s responding.\n",

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                fsm->master_slaves_responding,

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                fsm->master_slaves_responding == 1 ? "" : "s");

   205

   206

        if (master->mode == EC_MASTER_MODE_RUNNING) {

   207

            if (fsm->master_slaves_responding == master->slave_count) {

   208

                fsm->master_validation = 1; // start validation later

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            }

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            else {

   211

                EC_WARN("Invalid slave count. Bus in tainted state.\n");

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            }

   213

        }

   214

    }

   215

   216

    if (states_change) {

   217

        EC_INFO("Slave states: ");

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        ec_print_states(fsm->master_slave_states);

   219

        printk(".\n");

   220

    }

   221

   222

    // topology change in free-run mode: clear all slaves and scan the bus

   223

    if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {

   224

        EC_INFO("Scanning bus.\n");

   225

   226

        ec_master_eoe_stop(master);

   227

        ec_master_clear_slaves(master);

   228

   229

        if (!fsm->master_slaves_responding) {

   230

            // no slaves present -> finish state machine.

   231

            fsm->master_state = ec_fsm_master_start;

   232

            fsm->master_state(fsm); // execute immediately

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            return;

   234

        }

   235

   236

        // init slaves

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        for (i = 0; i < fsm->master_slaves_responding; i++) {

   238

            if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),

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                                                 GFP_ATOMIC))) {

   240

                EC_ERR("Failed to allocate slave %i!\n", i);

   241

                fsm->master_state = ec_fsm_master_start;

   242

                fsm->master_state(fsm); // execute immediately

   243

                return;

   244

            }

   245

   246

            if (ec_slave_init(slave, master, i, i + 1)) {

   247

                fsm->master_state = ec_fsm_master_start;

   248

                fsm->master_state(fsm); // execute immediately

   249

                return;

   250

            }

   251

   252

            if (kobject_add(&slave->kobj)) {

   253

                EC_ERR("Failed to add kobject.\n");

   254

                kobject_put(&slave->kobj); // free

   255

                fsm->master_state = ec_fsm_master_start;

   256

                fsm->master_state(fsm); // execute immediately

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                return;

   258

            }

   259

   260

            list_add_tail(&slave->list, &master->slaves);

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        }

   262

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        // begin scanning of slaves

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        fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   265

        fsm->slave_state = ec_fsm_slave_start_reading;

   266

        fsm->master_state = ec_fsm_master_scan_slaves;

   267

        fsm->master_state(fsm); // execute immediately

   268

        return;

   269

    }

   270

   271

    // fetch state from each slave

   272

    fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   273

    ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);

   274

    ec_master_queue_datagram(master, &fsm->datagram);

   275

    fsm->master_state = ec_fsm_master_read_states;

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}

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   278

/*****************************************************************************/

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   280

/**

   281

   Master action: PROC_STATES.

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   Processes the slave states.

   283

*/

   284

   285

void ec_fsm_master_action_process_states(ec_fsm_t *fsm

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                                         /**< finite state machine */

   287

                                         )

   288

{

   289

    ec_master_t *master = fsm->master;

   290

    ec_slave_t *slave;

   291

   292

    // check if any slaves are not in the state, they're supposed to be

   293

    list_for_each_entry(slave, &master->slaves, list) {

   294

        if (slave->error_flag ||

   295

            !slave->online ||

   296

            slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||

   297

            slave->current_state == slave->requested_state) continue;

   298

   299

        EC_INFO("Changing state of slave %i from ", slave->ring_position);

   300

        ec_print_states(slave->current_state);

   301

        printk(" to ");

   302

        ec_print_states(slave->requested_state);

   303

        printk(".\n");

   304

   305

        fsm->slave = slave;

   306

        fsm->slave_state = ec_fsm_slave_conf;

   307

        fsm->change_new = EC_SLAVE_STATE_INIT;

   308

        fsm->change_state = ec_fsm_change_start;

   309

        fsm->master_state = ec_fsm_master_configure_slave;

   310

        fsm->master_state(fsm); // execute immediately

   311

        return;

   312

    }

   313

   314

    if (master->mode == EC_MASTER_MODE_FREERUN) {

   315

        // nothing to configure. check for pending EEPROM write operations.

   316

        list_for_each_entry(slave, &master->slaves, list) {

   317

            if (!slave->new_eeprom_data) continue;

   318

   319

            if (!slave->online || slave->error_flag) {

   320

                kfree(slave->new_eeprom_data);

   321

                slave->new_eeprom_data = NULL;

   322

                EC_ERR("Discarding EEPROM data, slave %i not ready.\n",

   323

                       slave->ring_position);

   324

                continue;

   325

            }

   326

   327

            // found pending EEPROM write operation. execute it!

   328

            EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);

   329

            fsm->sii_offset = 0x0000;

   330

            memcpy(fsm->sii_value, slave->new_eeprom_data, 2);

   331

            fsm->sii_mode = 1;

   332

            fsm->sii_state = ec_fsm_sii_start_writing;

   333

            fsm->slave = slave;

   334

            fsm->master_state = ec_fsm_master_write_eeprom;

   335

            fsm->master_state(fsm); // execute immediately

   336

            return;

   337

        }

   338

    }

   339

   340

    // nothing to do. restart master state machine.

   341

    fsm->master_state = ec_fsm_master_start;

   342

    fsm->master_state(fsm); // execute immediately

   343

}

   344

   345

/*****************************************************************************/

   346

   347

/**

   348

   Master action: Get state of next slave.

   349

*/

   350

   351

void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm

   352

                                           /**< finite state machine */)

   353

{

   354

    ec_master_t *master = fsm->master;

   355

    ec_slave_t *slave = fsm->slave;

   356

   357

    // is there another slave to query?

   358

    if (slave->list.next != &master->slaves) {

   359

        // process next slave

   360

        fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);

   361

        ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,

   362

                         0x0130, 2);

   363

        ec_master_queue_datagram(master, &fsm->datagram);

   364

        fsm->master_state = ec_fsm_master_read_states;

   365

        return;

   366

    }

   367

   368

    // all slave states read

   369

   370

    // check, if a bus validation has to be done

   371

    if (fsm->master_validation) {

   372

        fsm->master_validation = 0;

   373

        list_for_each_entry(slave, &master->slaves, list) {

   374

            if (slave->online) continue;

   375

   376

            // At least one slave is offline. validate!

   377

            EC_INFO("Validating bus.\n");

   378

            fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);

   379

            fsm->master_state = ec_fsm_master_validate_vendor;

   380

            fsm->sii_offset = 0x0008; // vendor ID

   381

            fsm->sii_mode = 0;

   382

            fsm->sii_state = ec_fsm_sii_start_reading;

   383

            fsm->sii_state(fsm); // execute immediately

   384

            return;

   385

        }

   386

    }

   387

   388

    ec_fsm_master_action_process_states(fsm);

   389

}

   390

   391

/*****************************************************************************/

   392

   393

/**

   394

   Master state: STATES.

   395

   Fetches the AL- and online state of a slave.

   396

*/

   397

   398

void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)

   399

{

   400

    ec_slave_t *slave = fsm->slave;

   401

    ec_datagram_t *datagram = &fsm->datagram;

   402

    uint8_t new_state;

   403

   404

    if (datagram->state != EC_CMD_RECEIVED) {

   405

        fsm->master_state = ec_fsm_master_start;

   406

        fsm->master_state(fsm); // execute immediately

   407

        return;

   408

    }

   409

   410

    // did the slave not respond to its station address?

   411

    if (datagram->working_counter != 1) {

   412

        if (slave->online) {

   413

            slave->online = 0;

   414

            EC_INFO("Slave %i: offline.\n", slave->ring_position);

   415

        }

   416

        ec_fsm_master_action_next_slave_state(fsm);

   417

        return;

   418

    }

   419

   420

    // slave responded

   421

    new_state = EC_READ_U8(datagram->data);

   422

    if (!slave->online) { // slave was offline before

   423

        slave->online = 1;

   424

        slave->error_flag = 0; // clear error flag

   425

        slave->current_state = new_state;

   426

        EC_INFO("Slave %i: online (", slave->ring_position);

   427

        ec_print_states(new_state);

   428

        printk(").\n");

   429

    }

   430

    else if (new_state != slave->current_state) {

   431

        EC_INFO("Slave %i: ", slave->ring_position);

   432

        ec_print_states(slave->current_state);

   433

        printk(" -> ");

   434

        ec_print_states(new_state);

   435

        printk(".\n");

   436

        slave->current_state = new_state;

   437

    }

   438

   439

    ec_fsm_master_action_next_slave_state(fsm);

   440

}

   441

   442

/*****************************************************************************/

   443

   444

/**

   445

   Master state: VALIDATE_VENDOR.

   446

   Validates the vendor ID of a slave.

   447

*/

   448

   449

void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)

   450

{

   451

    ec_slave_t *slave = fsm->slave;

   452

   453

    fsm->sii_state(fsm); // execute SII state machine

   454

   455

    if (fsm->sii_state == ec_fsm_sii_error) {

   456

        fsm->slave->error_flag = 1;

   457

        EC_ERR("Failed to validate vendor ID of slave %i.\n",

   458

               slave->ring_position);

   459

        fsm->master_state = ec_fsm_master_start;

   460

        fsm->master_state(fsm); // execute immediately

   461

        return;

   462

    }

   463

   464

    if (fsm->sii_state != ec_fsm_sii_end) return;

   465

   466

    if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {

   467

        EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);

   468

        fsm->master_state = ec_fsm_master_start;

   469

        fsm->master_state(fsm); // execute immediately

   470

        return;

   471

    }

   472

   473

    // vendor ID is ok. check product code.

   474

    fsm->master_state = ec_fsm_master_validate_product;

   475

    fsm->sii_offset = 0x000A; // product code

   476

    fsm->sii_mode = 0;

   477

    fsm->sii_state = ec_fsm_sii_start_reading;

   478

    fsm->sii_state(fsm); // execute immediately

   479

}

   480

   481

/*****************************************************************************/

   482

   483

/**

   484

   Master action: ADDRESS.

   485

   Looks for slave, that have lost their configuration and writes

   486

   their station address, so that they can be reconfigured later.

   487

*/

   488

   489

void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)

   490

{

   491

    ec_datagram_t *datagram = &fsm->datagram;

   492

   493

    while (fsm->slave->online) {

   494

        if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?

   495

            fsm->master_state = ec_fsm_master_start;

   496

            fsm->master_state(fsm); // execute immediately

   497

            return;