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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 *);

    51

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

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

    84

    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);

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

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}

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    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);

   104

    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.

   113

 *

   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(

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

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        )

   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);

   130

    return 1;

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}

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   133

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

   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

        )

   141

{

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    return fsm->idle;

   143

}

   144

   145

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

   146

   147

/** Restarts the master state machine.

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 */

   149

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;

   154

    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;

   186

    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

    }

   212

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

   213

   214

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   215

        ec_fsm_master_restart(fsm);

   216

        return;

   217

    }

   218

   219

    if (fsm->slaves_responding) {

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        uint8_t states = EC_READ_U8(datagram->data);

   221

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

   222

            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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        }

   227

    } else {

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        fsm->slave_states = 0x00;

   229

    }

   230

   231

    if (fsm->topology_change_pending) {

   232

        down(&master->scan_sem);

   233

        if (!master->allow_scan) {

   234

            up(&master->scan_sem);

   235

        } else {

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            master->scan_busy = 1;

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            up(&master->scan_sem);

   238

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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;

   244

   245

#ifdef EC_EOE

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            ec_master_eoe_stop(master);

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            ec_master_clear_eoe_handlers(master);

   248

#endif

   249

            ec_master_clear_slaves(master);

   250

   251

            master->slave_count = fsm->slaves_responding;

   252

   253

            if (!master->slave_count) {

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                // no slaves present -> finish state machine.

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                master->scan_busy = 0;

   256

                wake_up_interruptible(&master->scan_queue);

   257

                ec_fsm_master_restart(fsm);

   258

                return;

   259

            }

   260

   261

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

   262

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

   263

                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);

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                return;

   270

            }

   271

   272

            // init slaves

   273

            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

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                // unnecesssary process data interruptions

   279

                if (master->phase != EC_OPERATION)

   280

                    slave->force_config = 1;

   281

            }

   282

   283

            // broadcast clear all station addresses

   284

            ec_datagram_bwr(datagram, 0x0010, 2);

   285

            EC_WRITE_U16(datagram->data, 0x0000);

   286

            fsm->retries = EC_FSM_RETRIES;

   287

            fsm->state = ec_fsm_master_state_clear_addresses;

   288

            return;

   289

        }

   290

    }

   291

   292

    if (master->slave_count) {

   293

        // fetch state from first slave

   294

        fsm->slave = master->slaves;

   295

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

   296

                0x0130, 2);

   297

        ec_datagram_zero(datagram);

   298

        fsm->retries = EC_FSM_RETRIES;

   299

        fsm->state = ec_fsm_master_state_read_state;

   300

    } else {

   301

        ec_fsm_master_restart(fsm);

   302

    }

   303

}

   304

   305

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

   306

   307

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

   308

 *

   309

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

   310

 */

   311

int ec_fsm_master_action_process_sii(

   312

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

   313

        )

   314

{

   315

    ec_master_t *master = fsm->master;

   316

    ec_sii_write_request_t *request;

   317

   318

    // search the first request to be processed

   319

    while (1) {

   320

        if (list_empty(&master->sii_requests))

   321

            break;

   322

   323

        // get first request

   324

        request = list_entry(master->sii_requests.next,

   325

                ec_sii_write_request_t, list);

   326

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

   327

        request->state = EC_INT_REQUEST_BUSY;

   328

   329

        // found pending SII write operation. execute it!

   330

        if (master->debug_level)

   331

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

   332

                    request->slave->ring_position);

   333

        fsm->sii_request = request;

   334

        fsm->sii_index = 0;

   335

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

   336

                request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);

   337

        fsm->state = ec_fsm_master_state_write_sii;

   338

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

   339

        return 1;

   340

    }

   341

   342

    return 0;

   343

}

   344

   345

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

   346

   347

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

   348

 *

   349

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

   350

 */

   351

int ec_fsm_master_action_process_register(

   352

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

   353

        )

   354

{

   355

    ec_master_t *master = fsm->master;

   356

    ec_reg_request_t *request;

   357

   358

    // search the first request to be processed

   359

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

   360

   361

        // get first request

   362

        request = list_entry(master->reg_requests.next,

   363

                ec_reg_request_t, list);

   364

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

   365

        request->state = EC_INT_REQUEST_BUSY;

   366

   367

        // found pending request; process it!

   368

        if (master->debug_level)

   369

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

   370

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

   371

                    request->slave->ring_position,

   372

                    request->offset, request->length);

   373

   374

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

   375

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

   376

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

   377

                    fsm->datagram->mem_size);

   378

            request->state = EC_INT_REQUEST_FAILURE;

   379

            wake_up(&master->reg_queue);

   380

            continue;

   381

        }

   382

   383

        fsm->reg_request = request;

   384

   385

        if (request->dir == EC_DIR_INPUT) {

   386

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

   387

                    request->offset, request->length);

   388

            ec_datagram_zero(fsm->datagram);

   389

        } else {

   390

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

   391

                    request->offset, request->length);

   392

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

   393

        }

   394

        fsm->retries = EC_FSM_RETRIES;

   395

        fsm->state = ec_fsm_master_state_reg_request;

   396

        return 1;

   397

    }

   398

   399

    return 0;

   400

}

   401

   402

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

   403

   404

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

   405

 *

   406

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

   407

 */

   408

int ec_fsm_master_action_process_sdo(

   409

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

   410

        )

   411

{

   412

    ec_master_t *master = fsm->master;

   413

    ec_slave_t *slave;

   414

    ec_sdo_request_t *req;

   415

   416

    // search for internal requests to be processed

   417

    for (slave = master->slaves;

   418

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

   419

            slave++) {

   420

        if (!slave->config)

   421

            continue;

   422

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

   423

            if (req->state == EC_INT_REQUEST_QUEUED) {

   424

   425

                if (ec_sdo_request_timed_out(req)) {

   426

                    req->state = EC_INT_REQUEST_FAILURE;

   427

                    if (master->debug_level)

   428

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

   429

                                slave->ring_position);

   430

                    continue;

   431

                }

   432

   433

                if (slave->current_state == EC_SLAVE_STATE_INIT) {

   434

                    req->state = EC_INT_REQUEST_FAILURE;

   435

                    continue;

   436

                }

   437

   438

                req->state = EC_INT_REQUEST_BUSY;

   439

                if (master->debug_level)

   440

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

   441

                            slave->ring_position);

   442

   443

                fsm->idle = 0;

   444

                fsm->sdo_request = req;

   445

                fsm->slave = slave;

   446

                fsm->state = ec_fsm_master_state_sdo_request;

   447

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

   448

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

   449

                return 1;

   450

            }

   451

        }

   452

    }

   453

    return 0;

   454

}

   455

   456

   457

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

   458

   459

/** Master action: IDLE.

   460

 *

   461

 * Does secondary work.

   462

 */

   463

void ec_fsm_master_action_idle(

   464

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

   465

        )

   466

{

   467

    ec_master_t *master = fsm->master;

   468

    ec_slave_t *slave;

   469

   470

    // Check for pending internal SDO requests

   471

    if (ec_fsm_master_action_process_sdo(fsm))

   472

        return;

   473

   474

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

   475

    for (slave = master->slaves;

   476

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

   477

            slave++) {

   478

        if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)

   479

                || (slave->sii.has_general

   480

                    && !slave->sii.coe_details.enable_sdo_info)

   481

                || slave->sdo_dictionary_fetched

   482

                || slave->current_state == EC_SLAVE_STATE_INIT

   483

                || slave->current_state == EC_SLAVE_STATE_UNKNOWN

   484

                || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ