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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master state machine.

    32

 */

    33

    34

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

    35

    36

#include "globals.h"

    37

#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#endif

    43

    44

#include "fsm_master.h"

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#include "fsm_foe.h"

    46

    47

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

    48

    49

/** Time difference [ns] to tolerate without setting a new system time offset.

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 */

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#define EC_SYSTEM_TIME_TOLERANCE_NS 100000000

    52

    53

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

    54

    55

void ec_fsm_master_state_start(ec_fsm_master_t *);

    56

void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

    57

void ec_fsm_master_state_read_state(ec_fsm_master_t *);

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void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);

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void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);

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void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_read_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_dc_write_offset(ec_fsm_master_t *);

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void ec_fsm_master_state_write_sii(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);

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void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);

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void ec_fsm_master_state_reg_request(ec_fsm_master_t *);

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    70

void ec_fsm_master_enter_write_system_times(ec_fsm_master_t *);

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    72

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

    73

    74

/** Constructor.

    75

 */

    76

void ec_fsm_master_init(

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        ec_fsm_master_t *fsm, /**< Master state machine. */

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        ec_master_t *master, /**< EtherCAT master. */

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        ec_datagram_t *datagram /**< Datagram object to use. */

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        )

    81

{

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    fsm->master = master;

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    fsm->datagram = datagram;

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    fsm->state = ec_fsm_master_state_start;

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    fsm->idle = 0;

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    fsm->link_state = 0;

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    fsm->slaves_responding = 0;

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    fsm->rescan_required = 0;

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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    90

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    // init sub-state-machines

    92

    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);

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    ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);

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    ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);

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    ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,

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            &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);

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    ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,

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            &fsm->fsm_slave_config, &fsm->fsm_pdo);

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    ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);

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}

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   102

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

   103

   104

/** Destructor.

   105

 */

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void ec_fsm_master_clear(

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        ec_fsm_master_t *fsm /**< Master state machine. */

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        )

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{

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

   112

    ec_fsm_pdo_clear(&fsm->fsm_pdo);

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    ec_fsm_change_clear(&fsm->fsm_change);

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    ec_fsm_slave_config_clear(&fsm->fsm_slave_config);

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    ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

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    ec_fsm_sii_clear(&fsm->fsm_sii);

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}

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   119

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

   120

   121

/** Executes the current state of the state machine.

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 *

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 * If the state machine's datagram is not sent or received yet, the execution

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 * of the state machine is delayed to the next cycle.

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 *

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 * \return true, if the state machine was executed

   127

 */

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int ec_fsm_master_exec(

   129

        ec_fsm_master_t *fsm /**< Master state machine. */

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        )

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{

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    if (fsm->datagram->state == EC_DATAGRAM_SENT

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        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {

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        // datagram was not sent or received yet.

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        return 0;

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    }

   137

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    fsm->state(fsm);

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    return 1;

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}

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

   143

   144

/**

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 * \return true, if the state machine is in an idle phase

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 */

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int ec_fsm_master_idle(

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        const ec_fsm_master_t *fsm /**< Master state machine. */

   149

        )

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{

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    return fsm->idle;

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}

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

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   156

/** Restarts the master state machine.

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 */

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void ec_fsm_master_restart(

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        ec_fsm_master_t *fsm /**< Master state machine. */

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        )

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{

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    fsm->state = ec_fsm_master_state_start;

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

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}

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   166

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

   167

 * Master state machine

   168

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

   169

   170

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

   173

 */

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void ec_fsm_master_state_start(

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        ec_fsm_master_t *fsm /**< Master state machine. */

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        )

   177

{

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    fsm->idle = 1;

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

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    ec_datagram_zero(fsm->datagram);

   181

    fsm->state = ec_fsm_master_state_broadcast;

   182

}

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   184

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

   185

   186

/** Master state: BROADCAST.

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 *

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 * Processes the broadcast read slave count and slaves states.

   189

 */

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void ec_fsm_master_state_broadcast(

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        ec_fsm_master_t *fsm /**< Master state machine. */

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        )

   193

{

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    ec_datagram_t *datagram = fsm->datagram;

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    unsigned int i, size;

   196

    ec_slave_t *slave;

   197

    ec_master_t *master = fsm->master;

   198

   199

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   201

   202

    // bus topology change?

   203

    if (datagram->working_counter != fsm->slaves_responding) {

   204

        fsm->rescan_required = 1;

   205

        fsm->slaves_responding = datagram->working_counter;

   206

        EC_MASTER_INFO(master, "%u slave(s) responding.\n",

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                fsm->slaves_responding);

   208

    }

   209

   212

        EC_MASTER_DBG(master, 1, "Master state machine detected "

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                "link down. Clearing slave list.\n");

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   215

#ifdef EC_EOE

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        ec_master_eoe_stop(master);

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        ec_master_clear_eoe_handlers(master);

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#endif

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        ec_master_clear_slaves(master);

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        fsm->slave_states = 0x00;

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    }

   222

    fsm->link_state = master->main_device.link_state;

   223

   224

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        ec_fsm_master_restart(fsm);

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        return;

   227

    }

   228

   229

    if (fsm->slaves_responding) {

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        uint8_t states = EC_READ_U8(datagram->data);

   231

        if (states != fsm->slave_states) { // slave states changed?

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            char state_str[EC_STATE_STRING_SIZE];

   233

            fsm->slave_states = states;

   234

            ec_state_string(fsm->slave_states, state_str, 1);

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            EC_MASTER_INFO(master, "Slave states: %s.\n", state_str);

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        }

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    } else {

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        fsm->slave_states = 0x00;

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    }

   240

   241

    if (fsm->rescan_required) {

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        down(&master->scan_sem);

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        if (!master->allow_scan) {

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            up(&master->scan_sem);

   245

        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

   248

   249

            // clear all slaves and scan the bus

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            fsm->rescan_required = 0;

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            fsm->idle = 0;

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            fsm->scan_jiffies = jiffies;

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   254

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   256

            ec_master_clear_eoe_handlers(master);

   257

#endif

   258

            ec_master_clear_slaves(master);

   259

   260

            master->slave_count = fsm->slaves_responding;

   261

   262

            if (!master->slave_count) {

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                // no slaves present -> finish state machine.

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                master->scan_busy = 0;

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                wake_up_interruptible(&master->scan_queue);

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                ec_fsm_master_restart(fsm);

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                return;

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            }

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   270

            size = sizeof(ec_slave_t) * master->slave_count;

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                EC_MASTER_ERR(master, "Failed to allocate %u bytes"

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                        " of slave memory!\n", size);

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                master->slave_count = 0; // TODO avoid retrying scan!

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                master->scan_busy = 0;

   277

                wake_up_interruptible(&master->scan_queue);

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                ec_fsm_master_restart(fsm);

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                return;

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            }

   281

   282

            // init slaves

   283

            for (i = 0; i < master->slave_count; i++) {

   284

                slave = master->slaves + i;

   285

                ec_slave_init(slave, master, i, i + 1);

   286

   287

                // do not force reconfiguration in operation phase to avoid

   288

                // unnecesssary process data interruptions

   289

                if (master->phase != EC_OPERATION)

   290

                    slave->force_config = 1;

   291

            }

   292

   293

            // broadcast clear all station addresses

   294

            ec_datagram_bwr(datagram, 0x0010, 2);

   295

            EC_WRITE_U16(datagram->data, 0x0000);

   296

            fsm->retries = EC_FSM_RETRIES;

   297

            fsm->state = ec_fsm_master_state_clear_addresses;

   298

            return;

   299

        }

   300

    }

   301

   302

    if (master->slave_count) {

   303

   304

        // application applied configurations

   305

        if (master->config_changed) {

   306

            master->config_changed = 0;

   307

   308

            EC_MASTER_DBG(master, 1, "Configuration changed.\n");

   309

   310

            fsm->slave = master->slaves; // begin with first slave

   311

            ec_fsm_master_enter_write_system_times(fsm);

   312

   313

        } else {

   314

            // fetch state from first slave

   315

            fsm->slave = master->slaves;

   316

            ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,

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                    0x0130, 2);

   318

            ec_datagram_zero(datagram);

   319

            fsm->retries = EC_FSM_RETRIES;

   320

            fsm->state = ec_fsm_master_state_read_state;

   321

        }

   322

    } else {

   323

        ec_fsm_master_restart(fsm);

   324

    }

   325

}

   326

   327

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

   328

   329

/** Check for pending SII write requests and process one.

   330

 *

   331

 * \return non-zero, if an SII write request is processed.

   332

 */

   333

int ec_fsm_master_action_process_sii(

   334

        ec_fsm_master_t *fsm /**< Master state machine. */

   335

        )

   336

{

   337

    ec_master_t *master = fsm->master;

   338

    ec_sii_write_request_t *request;

   339

   340

    // search the first request to be processed

   341

    while (1) {

   342

        if (list_empty(&master->sii_requests))

   343

            break;

   344

   345

        // get first request

   346

        request = list_entry(master->sii_requests.next,

   347

                ec_sii_write_request_t, list);

   348

        list_del_init(&request->list); // dequeue

   349

        request->state = EC_INT_REQUEST_BUSY;

   350

   351

        // found pending SII write operation. execute it!

   352

        EC_SLAVE_DBG(request->slave, 1, "Writing SII data...\n");

   353

        fsm->sii_request = request;

   354

        fsm->sii_index = 0;

   355

        ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,

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                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   357

        fsm->state = ec_fsm_master_state_write_sii;

   358

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

   359

        return 1;

   360

    }

   361

   362

    return 0;

   363

}

   364

   365

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

   366

   367

/** Check for pending register requests and process one.

   368

 *

   369

 * \return non-zero, if a register request is processed.

   370

 */

   371

int ec_fsm_master_action_process_register(

   372

        ec_fsm_master_t *fsm /**< Master state machine. */

   373

        )

   374

{

   375

    ec_master_t *master = fsm->master;

   376

    ec_reg_request_t *request;

   377

   378

    // search the first request to be processed

   379

    while (!list_empty(&master->reg_requests)) {

   380

   381

        // get first request

   382

        request = list_entry(master->reg_requests.next,

   383

                ec_reg_request_t, list);

   384

        list_del_init(&request->list); // dequeue

   385

        request->state = EC_INT_REQUEST_BUSY;

   386

   387

        // found pending request; process it!

   388

        EC_SLAVE_DBG(request->slave, 1, "Processing register request, "

   389

                "offset 0x%04x, length %zu...\n",

   390

                request->offset, request->length);

   391

   392

        if (request->length > fsm->datagram->mem_size) {

   393

            EC_MASTER_ERR(master, "Request length (%zu) exceeds maximum "

   394

                    "datagram size (%zu)!\n", request->length,

   395

                    fsm->datagram->mem_size);

   396

            request->state = EC_INT_REQUEST_FAILURE;

   397

            wake_up(&master->reg_queue);

   398

            continue;

   399

        }

   400

   401

        fsm->reg_request = request;

   402

   403

        if (request->dir == EC_DIR_INPUT) {

   404

            ec_datagram_fprd(fsm->datagram, request->slave->station_address,

   405

                    request->offset, request->length);

   406

            ec_datagram_zero(fsm->datagram);

   407

        } else {

   408

            ec_datagram_fpwr(fsm->datagram, request->slave->station_address,

   409

                    request->offset, request->length);

   410

            memcpy(fsm->datagram->data, request->data, request->length);

   411

        }

   412

        fsm->retries = EC_FSM_RETRIES;

   413

        fsm->state = ec_fsm_master_state_reg_request;

   414

        return 1;

   415

    }

   416

   417

    return 0;

   418

}

   419

   420

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

   421

   422

/** Check for pending SDO requests and process one.

   423

 *

   424

 * \return non-zero, if an SDO request is processed.

   425

 */

   426

int ec_fsm_master_action_process_sdo(

   427

        ec_fsm_master_t *fsm /**< Master state machine. */

   428

        )

   429

{

   430

    ec_master_t *master = fsm->master;

   431

    ec_slave_t *slave;

   432

    ec_sdo_request_t *req;

   433

   434

    // search for internal requests to be processed

   435

    for (slave = master->slaves;

   436

            slave < master->slaves + master->slave_count;

   437

            slave++) {

   438

        if (!slave->config)

   439

            continue;

   440

        list_for_each_entry(req, &slave->config->sdo_requests, list) {

   441

            if (req->state == EC_INT_REQUEST_QUEUED) {

   442

   443

                if (ec_sdo_request_timed_out(req)) {

   444

                    req->state = EC_INT_REQUEST_FAILURE;

   445

                    EC_SLAVE_DBG(slave, 1, "Internal SDO request"

   446

                            " timed out.\n");

   447

                    continue;

   448

                }

   449

   450

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   451

                    req->state = EC_INT_REQUEST_FAILURE;

   452

                    continue;

   453

                }

   454

   455

                req->state = EC_INT_REQUEST_BUSY;

   456

                EC_SLAVE_DBG(slave, 1, "Processing internal"

   457

                        " SDO request...\n");

   458

                fsm->idle = 0;

   459

                fsm->sdo_request = req;

   460

                fsm->slave = slave;

   461

                fsm->state = ec_fsm_master_state_sdo_request;

   462

                ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);

   463

                ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately

   464

                return 1;

   465

            }

   466

        }

   467

    }

   468

    return 0;

   469

}

   470

   471

   472

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

   473

   474

/** Master action: IDLE.

   475

 *

   476

 * Does secondary work.

   477

 */

   478

void ec_fsm_master_action_idle(

   479

        ec_fsm_master_t *fsm /**< Master state machine. */

   480

        )

   481

{

   482

    ec_master_t *master = fsm->master;

   483

    ec_slave_t *slave;

   484