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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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 *

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

    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"

    39

#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"

    45

#include "fsm_foe.h"

    46

    47

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

    48

    49

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 *);

    52

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_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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    62

    63

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

    64

    65

/** Constructor.

    66

 */

    67

void ec_fsm_master_init(

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

    69

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

    70

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

    71

        )

    72

{

    73

    fsm->master = master;

    74

    fsm->datagram = datagram;

    75

    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->topology_change_pending = 0;

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    fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;

    81

    82

    // init sub-state-machines

    83

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

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

    85

    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);

    90

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

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}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

void ec_fsm_master_clear(

    98

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

    99

        )

   100

{

   101

    // clear sub-state machines

   102

    ec_fsm_coe_clear(&fsm->fsm_coe);

   103

    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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}

   109

   110

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

   111

   112

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

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 *

   114

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

   115

 * 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

   118

 */

   119

int ec_fsm_master_exec(

   120

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

   121

        )

   122

{

   123

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

   124

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

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        // datagram was not sent or received yet.

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        return 0;

   127

    }

   128

   129

    fsm->state(fsm);

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    return 1;

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}

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

   134

   135

/**

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

   137

 */

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int ec_fsm_master_idle(

   139

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

   140

        )

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{

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    return fsm->idle;

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}

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   145

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

   146

   147

/** 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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   157

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

   158

 * Master state machine

   159

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

   160

   161

/** Master state: START.

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 *

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 * Starts with getting slave count and slave states.

   164

 */

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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);

   172

    fsm->state = ec_fsm_master_state_broadcast;

   173

}

   174

   175

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

   176

   177

/** Master state: BROADCAST.

   178

 *

   179

 * Processes the broadcast read slave count and slaves states.

   180

 */

   181

void ec_fsm_master_state_broadcast(

   182

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

   183

        )

   184

{

   185

    ec_datagram_t *datagram = fsm->datagram;

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    unsigned int i, size;

   187

    ec_slave_t *slave;

   188

    ec_master_t *master = fsm->master;

   189

   190

    if (datagram->state == EC_DATAGRAM_TIMED_OUT)

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        return; // always retry

   192

   193

    // bus topology change?

   194

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

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        fsm->topology_change_pending = 1;

   196

        fsm->slaves_responding = datagram->working_counter;

   197

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

   198

    }

   199

   200

    if (fsm->link_state && !master->main_device.link_state) { // link went down

   201

        if (master->debug_level) {

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            EC_DBG("Master state machine detected "

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

   204

        }

   205

   206

#ifdef EC_EOE

   207

        ec_master_eoe_stop(master);

   208

        ec_master_clear_eoe_handlers(master);

   209

#endif

   210

        ec_master_clear_slaves(master);

   211

        fsm->slave_states = 0x00;

   212

    }

   213

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

   214

   215

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        ec_fsm_master_restart(fsm);

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        return;

   218

    }

   219

   220

    if (fsm->slaves_responding) {

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        uint8_t states = EC_READ_U8(datagram->data);

   222

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

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            char state_str[EC_STATE_STRING_SIZE];

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            fsm->slave_states = states;

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

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

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        }

   228

    } else {

   229

        fsm->slave_states = 0x00;

   230

    }

   231

   232

    if (fsm->topology_change_pending) {

   233

        down(&master->scan_sem);

   234

        if (!master->allow_scan) {

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            up(&master->scan_sem);

   236

        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

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            // 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;

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            fsm->scan_jiffies = jiffies;

   245

   246

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

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            ec_master_clear_eoe_handlers(master);

   249

#endif

   250

            ec_master_clear_slaves(master);

   251

   252

            master->slave_count = fsm->slaves_responding;

   253

   254

            if (!master->slave_count) {

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                // no slaves present -> finish state machine.

   256

                master->scan_busy = 0;

   257

                wake_up_interruptible(&master->scan_queue);

   258

                ec_fsm_master_restart(fsm);

   259

                return;

   260

            }

   261

   262

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

   263

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

   264

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

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                        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);

   270

                return;

   271

            }

   272

   273

            // init slaves

   274

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

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                slave = master->slaves + i;

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

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                // do not force reconfiguration in operation phase to avoid

   279

                // unnecesssary process data interruptions

   280

                if (master->phase != EC_OPERATION)

   281

                    slave->force_config = 1;

   282

            }

   283

   284

            // broadcast clear all station addresses

   285

            ec_datagram_bwr(datagram, 0x0010, 2);

   286

            EC_WRITE_U16(datagram->data, 0x0000);

   287

            fsm->retries = EC_FSM_RETRIES;

   288

            fsm->state = ec_fsm_master_state_clear_addresses;

   289

            return;

   290

        }

   291

    }

   292

   293

    if (master->slave_count) {

   294

        // fetch state from first slave

   295

        fsm->slave = master->slaves;

   296

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

   297

                0x0130, 2);

   298

        ec_datagram_zero(datagram);

   299

        fsm->retries = EC_FSM_RETRIES;

   300

        fsm->state = ec_fsm_master_state_read_state;

   301

    } else {

   302

        ec_fsm_master_restart(fsm);

   303

    }

   304

}

   305

   306

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

   307

   308

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

   309

 *

   310

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

   311

 */

   312

int ec_fsm_master_action_process_sii(

   313

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

   314

        )

   315

{

   316

    ec_master_t *master = fsm->master;

   317

    ec_sii_write_request_t *request;

   318

   319

    // search the first request to be processed

   320

    while (1) {

   321

        if (list_empty(&master->sii_requests))

   322

            break;

   323

   324

        // get first request

   325

        request = list_entry(master->sii_requests.next,

   326

                ec_sii_write_request_t, list);

   327

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

   328

        request->state = EC_INT_REQUEST_BUSY;

   329

   330

        // found pending SII write operation. execute it!

   331

        if (master->debug_level)

   332

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

   333

                    request->slave->ring_position);

   334

        fsm->sii_request = request;

   335

        fsm->sii_index = 0;

   336

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

   337

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   338

        fsm->state = ec_fsm_master_state_write_sii;

   339

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

   340

        return 1;

   341

    }

   342

   343

    return 0;

   344

}

   345

   346

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

   347

   348

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

   349

 *

   350

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

   351

 */

   352

int ec_fsm_master_action_process_register(

   353

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

   354

        )

   355

{

   356

    ec_master_t *master = fsm->master;

   357

    ec_reg_request_t *request;

   358

   359

    // search the first request to be processed

   360

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

   361

   362

        // get first request

   363

        request = list_entry(master->reg_requests.next,

   364

                ec_reg_request_t, list);

   365

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

   366

        request->state = EC_INT_REQUEST_BUSY;

   367

   368

        // found pending request; process it!

   369

        if (master->debug_level)

   370

            EC_DBG("Processing register request for slave %u, "

   371

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

   372

                    request->slave->ring_position,

   373

                    request->offset, request->length);

   374

   375

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

   376

            EC_ERR("Request length (%zu) exceeds maximum "

   377

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

   378

                    fsm->datagram->mem_size);

   379

            request->state = EC_INT_REQUEST_FAILURE;

   380

            wake_up(&master->reg_queue);

   381

            continue;

   382

        }

   383

   384

        fsm->reg_request = request;

   385

   386

        if (request->dir == EC_DIR_INPUT) {

   387

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

   388

                    request->offset, request->length);

   389

            ec_datagram_zero(fsm->datagram);

   390

        } else {

   391

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

   392

                    request->offset, request->length);

   393

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

   394

        }

   395

        fsm->retries = EC_FSM_RETRIES;

   396

        fsm->state = ec_fsm_master_state_reg_request;

   397

        return 1;

   398

    }

   399

   400

    return 0;

   401

}

   402

   403

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

   404

   405

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

   406

 *

   407

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

   408

 */

   409

int ec_fsm_master_action_process_sdo(

   410

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

   411

        )

   412

{

   413

    ec_master_t *master = fsm->master;

   414

    ec_slave_t *slave;

   415

    ec_sdo_request_t *req;

   416

   417

    // search for internal requests to be processed

   418

    for (slave = master->slaves;

   419

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

   420

            slave++) {

   421

        if (!slave->config)

   422

            continue;

   423

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

   424

            if (req->state == EC_INT_REQUEST_QUEUED) {

   425

   426

                if (ec_sdo_request_timed_out(req)) {

   427

                    req->state = EC_INT_REQUEST_FAILURE;

   428

                    if (master->debug_level)

   429

                        EC_DBG("Internal SDO request for slave %u"

   430

                                " timed out...\n", slave->ring_position);

   431

                    continue;

   432

                }

   433

   434

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   435

                    req->state = EC_INT_REQUEST_FAILURE;

   436

                    continue;

   437

                }

   438

   439

                req->state = EC_INT_REQUEST_BUSY;

   440

                if (master->debug_level)

   441

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

   442

                            slave->ring_position);

   443

   444

                fsm->idle = 0;

   445

                fsm->sdo_request = req;

   446

                fsm->slave = slave;

   447

                fsm->state = ec_fsm_master_state_sdo_request;

   448

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

   449

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

   450

                return 1;

   451

            }

   452

        }

   453

    }

   454

    return 0;

   455

}

   456

   457

   458

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

   459

   460

/** Master action: IDLE.

   461

 *

   462

 * Does secondary work.

   463

 */

   464

void ec_fsm_master_action_idle(

   465

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

   466

        )

   467

{

   468

    ec_master_t *master = fsm->master;

   469

    ec_slave_t *slave;

   470

   471

    // Check for pending internal SDO requests

   472

    if (ec_fsm_master_action_process_sdo(fsm))

   473

        return;

   474

   475

    // enable processing of requests

   476

    for (slave = master->slaves;

   477

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

   478

            slave++) {

   479

        ec_fsm_slave_ready(&slave->fsm);

   480

    }

   481

   482

    // check, if slaves have an SDO dictionary to read out.

   483

    for (slave = master->slaves;

   484

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