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

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 *

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 *  $Id$

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 *

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 *  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.

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 *

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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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 *

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 *  ---

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 *

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

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/** \file

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 * EtherCAT slave (SDO) state machine.

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 */

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

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#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_slave.h"

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

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void ec_fsm_slave_state_idle(ec_fsm_slave_t *);

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void ec_fsm_slave_state_ready(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_sdo(ec_fsm_slave_t *);

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void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_foe(ec_fsm_slave_t *);

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void ec_fsm_slave_state_foe_request(ec_fsm_slave_t *);

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int ec_fsm_slave_action_process_soe(ec_fsm_slave_t *);

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void ec_fsm_slave_state_soe_request(ec_fsm_slave_t *);

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

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    55

/** Constructor.

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 */

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void ec_fsm_slave_init(

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        ec_fsm_slave_t *fsm, /**< Slave state machine. */

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        ec_slave_t *slave, /**< EtherCAT slave. */

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

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        )

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{

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    fsm->slave = slave;

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    fsm->datagram = datagram;

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    fsm->datagram->data_size = 0;

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    if (slave->master->debug_level)

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        EC_DBG("Init FSM for slave %u...\n", slave->ring_position);

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    fsm->state = ec_fsm_slave_state_idle;

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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);

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    ec_fsm_soe_init(&fsm->fsm_soe, fsm->datagram);

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}

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

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/** Destructor.

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 */

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void ec_fsm_slave_clear(

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        ec_fsm_slave_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);

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    ec_fsm_foe_clear(&fsm->fsm_foe);

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    ec_fsm_soe_clear(&fsm->fsm_soe);

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}

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

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/** 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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void ec_fsm_slave_exec(

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        ec_fsm_slave_t *fsm /**< Slave 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;

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    }

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    fsm->state(fsm);

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    return;

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}

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

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   115

/** Sets the current state of the state machine to READY

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 */

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void ec_fsm_slave_ready(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    if (fsm->state == ec_fsm_slave_state_idle) {

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        if (fsm->slave->master->debug_level) {

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            EC_DBG("Slave %u ready for requests.\n",

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                    fsm->slave->ring_position);

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        }

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        fsm->state = ec_fsm_slave_state_ready;

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    }

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}

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

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 * Slave state machine

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

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/** Slave state: IDLE.

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 */

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void ec_fsm_slave_state_idle(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    // do nothing

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}

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

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/** Slave state: READY.

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 */

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void ec_fsm_slave_state_ready(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    // Check for pending external SDO requests

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    if (ec_fsm_slave_action_process_sdo(fsm))

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        return;

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    // Check for pending FoE requests

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    if (ec_fsm_slave_action_process_foe(fsm))

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        return;

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    // Check for pending SoE requests

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    if (ec_fsm_slave_action_process_soe(fsm))

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        return;

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}

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

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

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 *

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

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 */

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int ec_fsm_slave_action_process_sdo(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    ec_slave_t *slave = fsm->slave;

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    ec_master_t *master = slave->master;

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    ec_master_sdo_request_t *request, *next;

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    // search the first external request to be processed

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    list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {

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

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        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

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            EC_WARN("Aborting SDO request, slave %u has ERROR.\n",

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                    slave->ring_position);

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            request->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->sdo_queue);

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            fsm->sdo_request = NULL;

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            fsm->state = ec_fsm_slave_state_idle;

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            return 0;

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        }

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        if (slave->current_state == EC_SLAVE_STATE_INIT) {

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            EC_WARN("Aborting SDO request, slave %u is in INIT.\n",

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                    slave->ring_position);

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            request->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->sdo_queue);

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            fsm->sdo_request = NULL;

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            fsm->state = ec_fsm_slave_state_idle;

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            return 0;

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        }

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        request->req.state = EC_INT_REQUEST_BUSY;

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        // Found pending SDO request. Execute it!

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        if (master->debug_level)

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

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                    slave->ring_position);

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        // Start SDO transfer

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        fsm->sdo_request = &request->req;

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        fsm->state = ec_fsm_slave_state_sdo_request;

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

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

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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

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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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/** Slave state: SDO_REQUEST.

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 */

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void ec_fsm_slave_state_sdo_request(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    ec_slave_t *slave = fsm->slave;

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    ec_master_t *master = slave->master;

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    ec_sdo_request_t *request = fsm->sdo_request;

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   233

    if (ec_fsm_coe_exec(&fsm->fsm_coe))

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    {

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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

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        return;

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    }

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    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {

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        EC_ERR("Failed to process SDO request for slave %u.\n",

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                fsm->slave->ring_position);

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        request->state = EC_INT_REQUEST_FAILURE;

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        wake_up(&slave->sdo_queue);

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        fsm->sdo_request = NULL;

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        fsm->state = ec_fsm_slave_state_idle;

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        return;

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    }

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    if (master->debug_level)

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

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                fsm->slave->ring_position);

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    // SDO request finished

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    request->state = EC_INT_REQUEST_SUCCESS;

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    wake_up(&slave->sdo_queue);

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    fsm->sdo_request = NULL;

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    fsm->state = ec_fsm_slave_state_ready;

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}

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

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

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 *

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

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 */

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int ec_fsm_slave_action_process_foe(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

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        )

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{

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    ec_slave_t *slave = fsm->slave;

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    ec_master_t *master = slave->master;

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    ec_master_foe_request_t *request, *next;

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    // search the first request to be processed

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    list_for_each_entry_safe(request, next, &slave->foe_requests, list) {

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        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

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            EC_WARN("Aborting FOE request, slave %u has ERROR.\n",

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                    slave->ring_position);

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            request->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->sdo_queue);

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            fsm->sdo_request = NULL;

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            fsm->state = ec_fsm_slave_state_idle;

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            return 0;

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        }

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

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        request->req.state = EC_INT_REQUEST_BUSY;

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        if (master->debug_level)

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

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                    slave->ring_position);

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        fsm->foe_request = &request->req;

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        fsm->state = ec_fsm_slave_state_foe_request;

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        ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);

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        ec_fsm_foe_exec(&fsm->fsm_foe);

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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

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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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/** Slave state: FOE REQUEST.

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 */

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void ec_fsm_slave_state_foe_request(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

   308

        )

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{

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    ec_slave_t *slave = fsm->slave;

   311

    ec_master_t *master = slave->master;

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    ec_foe_request_t *request = fsm->foe_request;

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   314

    if (ec_fsm_foe_exec(&fsm->fsm_foe))

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    {

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        ec_master_queue_external_datagram(fsm->slave->master,fsm->datagram);

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        return;

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    }

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    if (!ec_fsm_foe_success(&fsm->fsm_foe)) {

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        EC_ERR("Failed to handle FoE request to slave %u.\n",

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                slave->ring_position);

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        request->state = EC_INT_REQUEST_FAILURE;

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        wake_up(&slave->foe_queue);

   325

        fsm->foe_request = NULL;

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        fsm->state = ec_fsm_slave_state_idle;

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        return;

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    }

   329

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    // finished transferring FoE

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    if (master->debug_level)

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        EC_DBG("Successfully transferred %u bytes of FoE data from/to"

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                " slave %u.\n", request->data_size, slave->ring_position);

   334

   335

    request->state = EC_INT_REQUEST_SUCCESS;

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    wake_up(&slave->foe_queue);

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   338

    fsm->foe_request = NULL;

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    fsm->state = ec_fsm_slave_state_ready;

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}

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

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

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 *

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

   347

 */

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int ec_fsm_slave_action_process_soe(

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        ec_fsm_slave_t *fsm /**< Slave state machine. */

   350

        )

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{

   352

    ec_slave_t *slave = fsm->slave;

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    ec_master_t *master = slave->master;

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    ec_master_soe_request_t *req, *next;

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    // search the first request to be processed

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    list_for_each_entry_safe(req, next, &slave->soe_requests, list) {

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   359

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

   360

        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {

   361

            EC_WARN("Aborting SoE request, slave %u has ERROR.\n",

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                    slave->ring_position);

   363

            req->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->soe_queue);

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            fsm->state = ec_fsm_slave_state_idle;

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            return 0;

   367

        }

   368

   369

        if (slave->current_state == EC_SLAVE_STATE_INIT) {

   370

            EC_WARN("Aborting SoE request, slave %u is in INIT.\n",

   371

                    slave->ring_position);

   372

            req->req.state = EC_INT_REQUEST_FAILURE;

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            wake_up(&slave->soe_queue);

   374

            fsm->state = ec_fsm_slave_state_idle;

   375

            return 0;

   376

        }

   377

   378

        req->req.state = EC_INT_REQUEST_BUSY;

   379

   380

        // Found pending request. Execute it!

   381

        if (master->debug_level)

   382

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

   383

                    slave->ring_position);

   384

   385

        // Start SoE transfer

   386

        fsm->soe_request = &req->req;

   387

        fsm->state = ec_fsm_slave_state_soe_request;

   388

        ec_fsm_soe_transfer(&fsm->fsm_soe, slave, &req->req);

   389

        ec_fsm_soe_exec(&fsm->fsm_soe); // execute immediately

   390

        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);

   391

        return 1;

   392

    }

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/** Slave state: SOE_REQUEST.

   399

 */

   400

void ec_fsm_slave_state_soe_request(

   401

        ec_fsm_slave_t *fsm /**< Slave state machine. */

   402

        )

   403

{

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    ec_slave_t *slave = fsm->slave;

   405

    ec_master_t *master = slave->master;

   406

    ec_soe_request_t *request = fsm->soe_request;

   407

   408

    if (ec_fsm_soe_exec(&fsm->fsm_soe)) {

   409

        ec_master_queue_external_datagram(fsm->slave->master, fsm->datagram);

   410

        return;

   411

    }

   412

   413

    if (!ec_fsm_soe_success(&fsm->fsm_soe)) {

   414

        EC_ERR("Failed to process SoE request for slave %u.\n",

   415

                fsm->slave->ring_position);

   416

        request->state = EC_INT_REQUEST_FAILURE;

   417

        wake_up(&slave->soe_queue);

   418

        fsm->soe_request = NULL;

   419

        fsm->state = ec_fsm_slave_state_idle;

   420

        return;

   421

    }

   422

   423

    if (master->debug_level)

   424

        EC_DBG("Finished SoE request for slave %u.\n",

   425

                fsm->slave->ring_position);

   426

   427

    // SoE request finished

   428

    request->state = EC_INT_REQUEST_SUCCESS;

   429

    wake_up(&slave->soe_queue);

   430

   431

    fsm->soe_request = NULL;

   432

    fsm->state = ec_fsm_slave_state_ready;

   433

}

   434

   435

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