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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

 *

     9

 *  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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 *

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

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

/** \file

    28

 * EtherCAT master state machine.

    29

 */

    30

    31

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

    32

    33

#include "globals.h"

    34

#include "master.h"

    35

#include "mailbox.h"

    36

#include "slave_config.h"

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#ifdef EC_EOE

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#include "ethernet.h"

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#endif

    40

    41

#include "fsm_master.h"

    42

#include "fsm_foe.h"

    43

    44

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

    45

    46

void ec_fsm_master_state_start(ec_fsm_master_t *);

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void ec_fsm_master_state_broadcast(ec_fsm_master_t *);

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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 *);

    51

void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);

    52

void ec_fsm_master_state_scan_slave(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_phy_request(ec_fsm_master_t *);

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void ec_fsm_master_state_foe_request(ec_fsm_master_t *);

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    59

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

    60

    61

/** Constructor.

    62

 */

    63

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. */

    67

        )

    68

{

    69

    fsm->master = master;

    70

    fsm->datagram = datagram;

    71

    fsm->state = ec_fsm_master_state_start;

    72

    fsm->idle = 0;

    73

    fsm->slaves_responding = 0;

    74

    fsm->topology_change_pending = 0;

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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    76

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    // init sub-state-machines

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

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    ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);

    80

    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);

    86

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

    87

}

    88

    89

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

    90

    91

/** Destructor.

    92

 */

    93

void ec_fsm_master_clear(

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

    95

        )

    96

{

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    // clear sub-state machines

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    ec_fsm_coe_clear(&fsm->fsm_coe);

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    ec_fsm_foe_clear(&fsm->fsm_foe);

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    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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}

   106

   107

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

   108

   109

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

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 *

   111

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

   112

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

   113

 */

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void ec_fsm_master_exec(

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

   116

        )

   117

{

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

   119

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

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        // datagram was not sent or received yet.

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        return;

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    }

   123

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    fsm->state(fsm);

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}

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

   128

   129

/**

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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. */

   134

        )

   135

{

   136

    return fsm->idle;

   137

}

   138

   139

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

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   141

/** Restarts the master state machine.

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 */

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void ec_fsm_master_restart(

   144

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

   145

        )

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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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   151

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

   152

 * Master state machine

   153

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

   154

   155

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

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 */

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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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        )

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{

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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);

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    fsm->state = ec_fsm_master_state_broadcast;

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}

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   169

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

   170

   171

/** Master state: BROADCAST.

   172

 *

   173

 * Processes the broadcast read slave count and slaves states.

   174

 */

   175

void ec_fsm_master_state_broadcast(

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

   177

        )

   178

{

   179

    ec_datagram_t *datagram = fsm->datagram;

   180

    unsigned int i, size;

   181

    ec_slave_t *slave;

   182

    ec_master_t *master = fsm->master;

   183

   184

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   186

   187

    // bus topology change?

   188

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

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        fsm->topology_change_pending = 1;

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        fsm->slaves_responding = datagram->working_counter;

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        EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);

   192

    }

   193

   194

    if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down

   195

        ec_fsm_master_restart(fsm);

   196

        return;

   197

    }

   198

   199

    if (fsm->slaves_responding) {

   200

        uint8_t states = EC_READ_U8(datagram->data);

   201

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

   202

            char state_str[EC_STATE_STRING_SIZE];

   203

            fsm->slave_states = states;

   204

            ec_state_string(fsm->slave_states, state_str);

   205

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

   206

        }

   207

    } else {

   208

        fsm->slave_states = 0x00;

   209

    }

   210

   211

    if (fsm->topology_change_pending) {

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        down(&master->scan_sem);

   213

        if (!master->allow_scan) {

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            up(&master->scan_sem);

   215

        } else {

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            master->scan_busy = 1;

   217

            up(&master->scan_sem);

   218

   219

            // topology change when scan is allowed:

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            // clear all slaves and scan the bus

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            fsm->topology_change_pending = 0;

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            fsm->idle = 0;

   223

            fsm->scan_jiffies = jiffies;

   224

   225

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

   227

            ec_master_clear_eoe_handlers(master);

   228

#endif

   229

            ec_master_clear_slaves(master);

   230

   231

            master->slave_count = fsm->slaves_responding;

   232

   233

            if (!master->slave_count) {

   234

                // no slaves present -> finish state machine.

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                master->scan_busy = 0;

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                wake_up_interruptible(&master->scan_queue);

   237

                ec_fsm_master_restart(fsm);

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                return;

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            }

   240

   241

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

   242

            if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {

   243

                EC_ERR("Failed to allocate %u bytes of slave memory!\n",

   244

                        size);

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

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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;

   250

            }

   251

   252

            // init slaves

   253

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

   254

                slave = master->slaves + i;

   255

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

   256

   257

                // do not force reconfiguration in operation phase to avoid

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                // unnecesssary process data interruptions

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                if (master->phase != EC_OPERATION)

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                    slave->force_config = 1;

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            }

   262

   263

            // broadcast clear all station addresses

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            ec_datagram_bwr(datagram, 0x0010, 2);

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            EC_WRITE_U16(datagram->data, 0x0000);

   266

            fsm->retries = EC_FSM_RETRIES;

   267

            fsm->state = ec_fsm_master_state_clear_addresses;

   268

            return;

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        }

   270

    }

   271

   272

    if (master->slave_count) {

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        // fetch state from first slave

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        fsm->slave = master->slaves;

   275

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

   276

                0x0130, 2);

   277

        ec_datagram_zero(datagram);

   278

        fsm->retries = EC_FSM_RETRIES;

   279

        fsm->state = ec_fsm_master_state_read_state;

   280

    } else {

   281

        ec_fsm_master_restart(fsm);

   282

    }

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}

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   285

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

   286

   287

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

   288

 *

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

   290

 */

   291

int ec_fsm_master_action_process_sii(

   292

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

   293

        )

   294

{

   295

    ec_master_t *master = fsm->master;

   296

    ec_sii_write_request_t *request;

   297

   298

    // search the first request to be processed

   299

    while (1) {

   300

        if (list_empty(&master->sii_requests))

   301

            break;

   302

   303

        // get first request

   304

        request = list_entry(master->sii_requests.next,

   305

                ec_sii_write_request_t, list);

   306

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

   307

        request->state = EC_INT_REQUEST_BUSY;

   308

   309

        // found pending SII write operation. execute it!

   310

        if (master->debug_level)

   311

            EC_DBG("Writing SII data to slave %u...\n",

   312

                    request->slave->ring_position);

   313

        fsm->sii_request = request;

   314

        fsm->sii_index = 0;

   315

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

   316

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   317

        fsm->state = ec_fsm_master_state_write_sii;

   318

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

   319

        return 1;

   320

    }

   321

   322

    return 0;

   323

}

   324

   325

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

   326

   327

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

   328

 * 

   329

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

   330

 */

   331

int ec_fsm_master_action_process_phy(

   332

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

   333

        )

   334

{

   335

    ec_master_t *master = fsm->master;

   336

    ec_phy_request_t *request;

   337

   338

    // search the first request to be processed

   339

    while (1) {

   340

        if (list_empty(&master->phy_requests))

   341

            break;

   342

   343

        // get first request

   344

        request = list_entry(master->phy_requests.next,

   345

                ec_phy_request_t, list);

   346

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

   347

        request->state = EC_INT_REQUEST_BUSY;

   348

   349

        // found pending request; process it!

   350

        if (master->debug_level)

   351

            EC_DBG("Processing phy request for slave %u...\n",

   352

                    request->slave->ring_position);

   353

        fsm->phy_request = request;

   354

   355

        if (request->dir == EC_DIR_INPUT) {

   356

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

   357

                    request->offset, request->length);

   358

            ec_datagram_zero(fsm->datagram);

   359

        } else {

   360

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

   361

                EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",

   362

                        request->length, fsm->datagram->mem_size);

   363

                request->state = EC_INT_REQUEST_FAILURE;

   364

                wake_up(&master->phy_queue);

   365

                continue;

   366

            }

   367

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

   368

                    request->offset, request->length);

   369

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

   370

        }

   371

        fsm->retries = EC_FSM_RETRIES;

   372

        fsm->state = ec_fsm_master_state_phy_request;

   373

        return 1;

   374

    }

   375

   376

    return 0;

   377

}

   378

   379

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

   380

   381

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

   382

 *

   383

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

   384

 */

   385

int ec_fsm_master_action_process_sdo(

   386

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

   387

        )

   388

{

   389

    ec_master_t *master = fsm->master;

   390

    ec_slave_t *slave;

   391

    ec_sdo_request_t *req;

   392

    ec_master_sdo_request_t *request;

   393

   394

    // search for internal requests to be processed

   395

    for (slave = master->slaves;

   396

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

   397

            slave++) {

   398

        if (!slave->config)

   399

            continue;

   400

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

   401

            if (req->state == EC_INT_REQUEST_QUEUED) {

   402

   403

                if (ec_sdo_request_timed_out(req)) {

   404

                    req->state = EC_INT_REQUEST_FAILURE;

   405

                    if (master->debug_level)

   406

                        EC_DBG("SDO request for slave %u timed out...\n",

   407

                                slave->ring_position);

   408

                    continue;

   409

                }

   410

   411

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   412

                    req->state = EC_INT_REQUEST_FAILURE;

   413

                    continue;

   414

                }

   415

   416

                req->state = EC_INT_REQUEST_BUSY;

   417

                if (master->debug_level)

   418

                    EC_DBG("Processing SDO request for slave %u...\n",

   419

                            slave->ring_position);

   420

   421

                fsm->idle = 0;

   422

                fsm->sdo_request = req;

   423

                fsm->slave = slave;

   424

                fsm->state = ec_fsm_master_state_sdo_request;

   425

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

   426

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

   427

                return 1;

   428

            }

   429

        }

   430

    }

   431

   432

    // search the first external request to be processed

   433

    while (1) {

   434

        if (list_empty(&master->slave_sdo_requests))

   435

            break;

   436

   437

        // get first request

   438

        request = list_entry(master->slave_sdo_requests.next,

   439

                ec_master_sdo_request_t, list);

   440

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

   441

        request->req.state = EC_INT_REQUEST_BUSY;

   442

   443

        slave = request->slave;

   444

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   445

            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",

   446

                    slave->ring_position);

   447

            request->req.state = EC_INT_REQUEST_FAILURE;

   448

            wake_up(&master->sdo_queue);

   449

            continue;

   450

        }

   451

   452

        // Found pending SDO request. Execute it!

   453

        if (master->debug_level)

   454

            EC_DBG("Processing SDO request for slave %u...\n",

   455

                    slave->ring_position);

   456

   457

        // Start uploading SDO

   458

        fsm->idle = 0;

   459

        fsm->sdo_request = &request->req;

   460

        fsm->slave = slave;

   461

        fsm->state = ec_fsm_master_state_sdo_request;

   462

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

   463

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

   464

        return 1;

   465

    }

   466

   467

    return 0;

   468

}

   469

   470

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

   471

   472

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

   473

 *

   474

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

   475

 */

   476

int ec_fsm_master_action_process_foe(

   477

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

   478

        )

   479

{

   480

    ec_master_t *master = fsm->master;

   481

    ec_slave_t *slave;

   482

    ec_master_foe_request_t *request;

   483

   484

    // search the first request to be processed

   485