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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.

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*/

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

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#include "globals.h"

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#include "fsm.h"

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#include "master.h"

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

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#define EC_CAT_MEM 0x100

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

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void ec_fsm_master_start(ec_fsm_t *);

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void ec_fsm_master_wait(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_prepare_sii(ec_fsm_t *);

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void ec_fsm_slave_read_sii(ec_fsm_t *);

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void ec_fsm_slave_category_header(ec_fsm_t *);

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void ec_fsm_slave_category_data(ec_fsm_t *);

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void ec_fsm_sii_start_reading(ec_fsm_t *);

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void ec_fsm_sii_check(ec_fsm_t *);

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void ec_fsm_sii_fetch(ec_fsm_t *);

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void ec_fsm_sii_finished(ec_fsm_t *);

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void ec_fsm_sii_error(ec_fsm_t *);

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

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int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)

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{

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    fsm->master = master;

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    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->slave_cat_data = NULL;

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    ec_command_init(&fsm->command);

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    if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {

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        EC_ERR("FSM failed to allocate FSM command.\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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/*****************************************************************************/

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void ec_fsm_clear(ec_fsm_t *fsm)

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{

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    if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);

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    ec_command_clear(&fsm->command);

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}

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

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void ec_fsm_reset(ec_fsm_t *fsm)

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{

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    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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    if (fsm->slave_cat_data) {

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        kfree(fsm->slave_cat_data);

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        fsm->slave_cat_data = NULL;

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    }

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}

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

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void ec_fsm_execute(ec_fsm_t *fsm)

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{

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    fsm->master_state(fsm);

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}

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

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 *  master state machine

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

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/**

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   State: Start.

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   Starts with getting slave count and slave states.

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*/

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void ec_fsm_master_start(ec_fsm_t *fsm)

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{

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    ec_command_brd(&fsm->command, 0x0130, 2);

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    ec_master_queue_command(fsm->master, &fsm->command);

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    fsm->master_state = ec_fsm_master_wait;

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}

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

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void ec_fsm_master_wait(ec_fsm_t *fsm)

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{

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    ec_command_t *command = &fsm->command;

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    ec_slave_t *slave;

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    if (command->state != EC_CMD_RECEIVED) {

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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;

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    }

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    if (command->working_counter == fsm->master_slaves_responding &&

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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;

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    }

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    topology_change = command->working_counter !=

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        fsm->master_slaves_responding;

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    fsm->master_slaves_responding = command->working_counter;

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    fsm->master_slave_states = command->data[0];

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    EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,

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

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    printk(")\n");

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    if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {

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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;

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    }

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    ec_master_clear_slaves(fsm->master);

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    if (!fsm->master_slaves_responding) {

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        // no slaves present -> finish state machine.

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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;

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    }

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    // init slaves

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

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        if (!(slave =

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              (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {

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

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            return;

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        }

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        if (ec_slave_init(slave, fsm->master, i, i + 1)) {

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            return;

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        }

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

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            EC_ERR("FSM failed to add kobject.\n");

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

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            return;

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        }

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

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    }

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    // begin scanning of slaves

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

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}

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

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/**

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   State: Get Slave.

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   Executes the sub-statemachine of a slave.

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*/

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{

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    ec_master_t *master = fsm->master;

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    fsm->slave_state(fsm); // execute slave state machine

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    // have all slaves been fetched?

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

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        return;

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    }

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    // process next slave

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

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

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}

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

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/**

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    ec_slave_t *slave;

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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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}

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

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 *  slave state machine

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

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/**

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   Slave state: Start.

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   First state of the slave state machine. Writes the station address to the

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   slave, according to its ring position.

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*/

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{

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    ec_command_t *command = &fsm->command;

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    // write station address

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    ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);

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    EC_WRITE_U16(command->data, fsm->slave->station_address);

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    ec_master_queue_command(fsm->master, command);

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    fsm->slave_state = ec_fsm_slave_read_base;

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}

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

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/**

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   Slave state: Read base.

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*/

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void ec_fsm_slave_read_base(ec_fsm_t *fsm)

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{

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    ec_command_t *command = &fsm->command;

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    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

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        EC_ERR("FSM failed to write station address of slave %i.\n",

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               fsm->slave->ring_position);

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        return;

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    }

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    // read base data

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    ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);

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    ec_master_queue_command(fsm->master, command);

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    fsm->slave_state = ec_fsm_slave_read_dl;

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}

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

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/**

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   Slave state: Read DL.

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*/

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void ec_fsm_slave_read_dl(ec_fsm_t *fsm)

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{

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    ec_command_t *command = &fsm->command;

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    ec_slave_t *slave = fsm->slave;

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    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

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        EC_ERR("FSM failed to read base data of slave %i.\n",

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               slave->ring_position);

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        return;

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    }

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    slave->base_type       = EC_READ_U8 (command->data);

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    slave->base_revision   = EC_READ_U8 (command->data + 1);

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    slave->base_build      = EC_READ_U16(command->data + 2);

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    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

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    slave->base_sync_count = EC_READ_U8 (command->data + 5);

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    if (slave->base_fmmu_count > EC_MAX_FMMUS)

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        slave->base_fmmu_count = EC_MAX_FMMUS;

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    // read data link status

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    ec_command_nprd(command, slave->station_address, 0x0110, 2);

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    ec_master_queue_command(slave->master, command);

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    fsm->slave_state = ec_fsm_slave_prepare_sii;

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}

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

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/**

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   Slave state: Prepare SII.

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*/

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void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)

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{

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    ec_command_t *command = &fsm->command;

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    ec_slave_t *slave = fsm->slave;

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    uint16_t dl_status;

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    unsigned int i;

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    if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {

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        EC_ERR("FSM failed to read DL status of slave %i.\n",

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               slave->ring_position);

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        return;

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    }

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    dl_status = EC_READ_U16(command->data);

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    for (i = 0; i < 4; i++) {

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        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

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        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

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        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

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    }

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    fsm->sii_offset = 0x0004;

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