etherlabmaster: comparison master/fsm.c

equal deleted inserted replaced

-:60b2aad9d40b
+:1cc865ba17c2
 /*****************************************************************************/
 void ec_fsm_master_start(ec_fsm_t *);
 void ec_fsm_master_broadcast(ec_fsm_t *);
 void ec_fsm_master_read_states(ec_fsm_t *);
+void ec_fsm_master_acknowledge(ec_fsm_t *);
 void ec_fsm_master_validate_vendor(ec_fsm_t *);
 void ec_fsm_master_validate_product(ec_fsm_t *);
 void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
 void ec_fsm_master_configure_slave(ec_fsm_t *);
 void ec_fsm_master_scan_slaves(ec_fsm_t *);
 void ec_fsm_master_write_eeprom(ec_fsm_t *);
+void ec_fsm_master_sdodict(ec_fsm_t *);
-void ec_fsm_startup_start(ec_fsm_t *);
+void ec_fsm_master_sdo_request(ec_fsm_t *);
-void ec_fsm_startup_broadcast(ec_fsm_t *);
+void ec_fsm_master_end(ec_fsm_t *);
-void ec_fsm_startup_scan(ec_fsm_t *);
+void ec_fsm_master_error(ec_fsm_t *);
-void ec_fsm_configuration_start(ec_fsm_t *);
-void ec_fsm_configuration_conf(ec_fsm_t *);
 void ec_fsm_slavescan_start(ec_fsm_t *);
 void ec_fsm_slavescan_address(ec_fsm_t *);
 void ec_fsm_slavescan_state(ec_fsm_t *);
 void ec_fsm_slavescan_base(ec_fsm_t *);
 void ec_fsm_slavescan_datalink(ec_fsm_t *);
 void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
 void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
-void ec_fsm_slaveconf_init(ec_fsm_t *);
+void ec_fsm_slaveconf_state_start(ec_fsm_t *);
-void ec_fsm_slaveconf_sync(ec_fsm_t *);
+void ec_fsm_slaveconf_state_init(ec_fsm_t *);
-void ec_fsm_slaveconf_preop(ec_fsm_t *);
+void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
-void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
+void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
+void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_saveop(ec_fsm_t *);
+void ec_fsm_slaveconf_state_sync2(ec_fsm_t *);
-void ec_fsm_slaveconf_op(ec_fsm_t *);
+void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
+void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
-void ec_fsm_sii_start_reading(ec_fsm_t *);
+void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
-void ec_fsm_sii_read_check(ec_fsm_t *);
+void ec_fsm_slaveconf_state_op(ec_fsm_t *);
-void ec_fsm_sii_read_fetch(ec_fsm_t *);
-void ec_fsm_sii_start_writing(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
-void ec_fsm_sii_write_check(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
-void ec_fsm_sii_write_check2(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *);
-void ec_fsm_change_start(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
-void ec_fsm_change_check(ec_fsm_t *);
+void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
-void ec_fsm_change_status(ec_fsm_t *);
-void ec_fsm_change_code(ec_fsm_t *);
+void ec_fsm_slave_state_end(ec_fsm_t *);
-void ec_fsm_change_ack(ec_fsm_t *);
+void ec_fsm_slave_state_error(ec_fsm_t *);
-void ec_fsm_change_check_ack(ec_fsm_t *);
-void ec_fsm_coe_down_start(ec_fsm_t *);
-void ec_fsm_coe_down_request(ec_fsm_t *);
-void ec_fsm_coe_down_check(ec_fsm_t *);
-void ec_fsm_coe_down_response(ec_fsm_t *);
-void ec_fsm_end(ec_fsm_t *);
-void ec_fsm_error(ec_fsm_t *);
-void ec_canopen_abort_msg(uint32_t);
 /*****************************************************************************/
 /**
 Constructor.
 if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
 EC_ERR("Failed to allocate FSM datagram.\n");
 return -1;
 }
+// init sub-state-machines
+ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
+ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram);
+ec_fsm_coe_init(&fsm->fsm_coe, &fsm->datagram);
 return 0;
 }
 /*****************************************************************************/
 Destructor.
 */
 void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
 {
+// clear sub-state machines
+ec_fsm_sii_clear(&fsm->fsm_sii);
+ec_fsm_change_clear(&fsm->fsm_change);
+ec_fsm_coe_clear(&fsm->fsm_coe);
 ec_datagram_clear(&fsm->datagram);
 }
 /*****************************************************************************/
 /**
-Resets the state machine.
-*/
-void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
-{
-fsm->master_state = ec_fsm_master_start;
-fsm->master_slaves_responding = 0;
-fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
-}
-/*****************************************************************************/
-/**
 Executes the current state of the state machine.
-*/
+\return false, if state machine has terminated
+*/
-void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
+int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
 {
 fsm->master_state(fsm);
-}
+return ec_fsm_running(fsm);
-/*****************************************************************************/
+}
-/**
+/*****************************************************************************/
-Initializes the master startup state machine.
-*/
+/**
+\return false, if state machine has terminated
-void ec_fsm_startup(ec_fsm_t *fsm)
+*/
-{
-fsm->master_state = ec_fsm_startup_start;
+int ec_fsm_running(ec_fsm_t *fsm /**< finite state machine */)
-}
+{
+return fsm->master_state != ec_fsm_master_end
-/*****************************************************************************/
+&& fsm->master_state != ec_fsm_master_error;
+}
-/**
-Returns the running state of the master startup state machine.
+/*****************************************************************************/
-\return non-zero if not terminated yet.
-*/
+/**
+\return true, if the master state machine terminated gracefully
-int ec_fsm_startup_running(ec_fsm_t *fsm /**< Finite state machine */)
+*/
-{
-return fsm->master_state != ec_fsm_end &&
+int ec_fsm_success(ec_fsm_t *fsm /**< finite state machine */)
-fsm->master_state != ec_fsm_error;
+{
-}
+return fsm->master_state == ec_fsm_master_end;
-/*****************************************************************************/
-/**
-Returns, if the master startup state machine terminated with success.
-\return non-zero if successful.
-*/
-int ec_fsm_startup_success(ec_fsm_t *fsm /**< Finite state machine */)
-{
-return fsm->master_state == ec_fsm_end;
-}
-/*****************************************************************************/
-/**
-Initializes the master configuration state machine.
-*/
-void ec_fsm_configuration(ec_fsm_t *fsm)
-{
-fsm->master_state = ec_fsm_configuration_start;
-}
-/*****************************************************************************/
-/**
-Returns the running state of the master configuration state machine.
-\return non-zero if not terminated yet.
-*/
-int ec_fsm_configuration_running(ec_fsm_t *fsm /**< Finite state machine */)
-{
-return fsm->master_state != ec_fsm_end &&
-fsm->master_state != ec_fsm_error;
-}
-/*****************************************************************************/
-/**
-Returns, if the master confuguration state machine terminated with success.
-\return non-zero if successful.
-*/
-int ec_fsm_configuration_success(ec_fsm_t *fsm /**< Finite state machine */)
-{
-return fsm->master_state == ec_fsm_end;
 }
 /******************************************************************************
-*  master startup state machine
+*  operation/idle state machine
-*****************************************************************************/
-/**
-Master state: START.
-Starts with getting slave count and slave states.
-*/
-void ec_fsm_startup_start(ec_fsm_t *fsm)
-{
-ec_datagram_brd(&fsm->datagram, 0x0130, 2);
-ec_master_queue_datagram(fsm->master, &fsm->datagram);
-fsm->master_state = ec_fsm_startup_broadcast;
-}
-/*****************************************************************************/
-/**
-Master state: BROADCAST.
-Processes the broadcast read slave count and slaves states.
-*/
-void ec_fsm_startup_broadcast(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-unsigned int i;
-ec_slave_t *slave;
-ec_master_t *master = fsm->master;
-if (datagram->state != EC_DATAGRAM_RECEIVED) {
-EC_ERR("Failed tor receive broadcast datagram.\n");
-fsm->master_state = ec_fsm_error;
-return;
-}
-EC_INFO("Scanning bus.\n");
-ec_master_clear_slaves(master);
-master->slave_count = datagram->working_counter;
-if (!master->slave_count) {
-// no slaves present -> finish state machine.
-fsm->master_state = ec_fsm_end;
-return;
-}
-// init slaves
-for (i = 0; i < master->slave_count; i++) {
-if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
-GFP_KERNEL))) {
-EC_ERR("Failed to allocate slave %i!\n", i);
-fsm->master_state = ec_fsm_error;
-return;
-}
-if (ec_slave_init(slave, master, i, i + 1)) {
-fsm->master_state = ec_fsm_error;
-return;
-}
-if (kobject_add(&slave->kobj)) {
-EC_ERR("Failed to add kobject.\n");
-kobject_put(&slave->kobj); // free
-fsm->master_state = ec_fsm_error;
-return;
-}
-list_add_tail(&slave->list, &master->slaves);
-}
-// begin scanning of slaves
-fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
-fsm->slave_state = ec_fsm_slavescan_start;
-fsm->master_state = ec_fsm_startup_scan;
-fsm->master_state(fsm); // execute immediately
-return;
-}
-/*****************************************************************************/
-/**
-Master state: SCAN.
-Executes the sub-statemachine for the scanning of a slave.
-*/
-void ec_fsm_startup_scan(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_master_t *master = fsm->master;
-ec_slave_t *slave = fsm->slave;
-fsm->slave_state(fsm); // execute slave state machine
-if (fsm->slave_state == ec_fsm_error) {
-EC_ERR("Slave scanning failed.\n");
-fsm->master_state = ec_fsm_error;
-return;
-}
-if (fsm->slave_state != ec_fsm_end) return;
-// another slave to scan?
-if (slave->list.next != &master->slaves) {
-fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-fsm->slave_state = ec_fsm_slavescan_start;
-fsm->slave_state(fsm); // execute immediately
-return;
-}
-EC_INFO("Bus scanning completed.\n");
-ec_master_calc_addressing(master);
-fsm->master_state = ec_fsm_end;
-}
-/******************************************************************************
-*  master configuration state machine
-*****************************************************************************/
-/**
-Master configuration state machine: START.
-*/
-void ec_fsm_configuration_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_master_t *master = fsm->master;
-if (list_empty(&master->slaves)) {
-fsm->master_state = ec_fsm_end;
-return;
-}
-// begin configuring slaves
-fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
-fsm->slave_state = ec_fsm_slaveconf_init;
-fsm->change_new = EC_SLAVE_STATE_INIT;
-fsm->change_state = ec_fsm_change_start;
-fsm->master_state = ec_fsm_configuration_conf;
-fsm->master_state(fsm); // execute immediately
-}
-/*****************************************************************************/
-/**
-Master state: CONF.
-*/
-void ec_fsm_configuration_conf(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_master_t *master = fsm->master;
-ec_slave_t *slave = fsm->slave;
-fsm->slave_state(fsm); // execute slave's state machine
-if (fsm->slave_state == ec_fsm_error) {
-fsm->master_state = ec_fsm_error;
-return;
-}
-if (fsm->slave_state != ec_fsm_end) return;
-// another slave to configure?
-if (slave->list.next != &master->slaves) {
-fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
-fsm->slave_state = ec_fsm_slaveconf_init;
-fsm->change_new = EC_SLAVE_STATE_INIT;
-fsm->change_state = ec_fsm_change_start;
-fsm->master_state(fsm); // execute immediately
-return;
-}
-fsm->master_state = ec_fsm_end;
-}
-/******************************************************************************
-*  operation / idle state machine
 *****************************************************************************/
 /**
 Master state: START.
 Starts with getting slave count and slave states.
 fsm->master_slaves_responding = 0;
 list_for_each_entry(slave, &master->slaves, list) {
 slave->online = 0;
 }
 }
-fsm->master_state = ec_fsm_master_start;
+else {
-fsm->master_state(fsm); // execute immediately
+EC_ERR("Failed to receive broadcast datagram.\n");
+}
+fsm->master_state = ec_fsm_master_error;
 return;
 }
 topology_change = (datagram->working_counter !=
 fsm->master_slaves_responding);
 }
 }
 }
 if (states_change) {
-char states[25];
+char states[EC_STATE_STRING_SIZE];
 ec_state_string(fsm->master_slave_states, states);
 EC_INFO("Slave states: %s.\n", states);
 }
 // topology change in idle mode: clear all slaves and scan the bus
 if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
-EC_INFO("Scanning bus.\n");
 ec_master_eoe_stop(master);
-ec_master_clear_slaves(master);
+ec_master_destroy_slaves(master);
 master->slave_count = datagram->working_counter;
 if (!master->slave_count) {
 // no slaves present -> finish state machine.
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_end;
-fsm->master_state(fsm); // execute immediately
 return;
 }
 // init slaves
 for (i = 0; i < master->slave_count; i++) {
 if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
 GFP_ATOMIC))) {
 EC_ERR("Failed to allocate slave %i!\n", i);
-ec_master_clear_slaves(master);
+ec_master_destroy_slaves(master);
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
 return;
 }
 if (ec_slave_init(slave, master, i, i + 1)) {
 // freeing of "slave" already done
-ec_master_clear_slaves(master);
+ec_master_destroy_slaves(master);
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
 return;
 }
-if (kobject_add(&slave->kobj)) {
-EC_ERR("Failed to add kobject.\n");
-kobject_put(&slave->kobj); // free
-ec_master_clear_slaves(master);
-fsm->master_state = ec_fsm_master_start;
-fsm->master_state(fsm); // execute immediately
-return;
-}
 list_add_tail(&slave->list, &master->slaves);
 }
+EC_INFO("Scanning bus.\n");
 // begin scanning of slaves
 fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
 fsm->slave_state = ec_fsm_slavescan_start;
 fsm->master_state = ec_fsm_master_scan_slaves;
 /**< finite state machine */
 )
 {
 ec_master_t *master = fsm->master;
 ec_slave_t *slave;
-char old_state[25], new_state[25];
+char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
 // check if any slaves are not in the state, they're supposed to be
 list_for_each_entry(slave, &master->slaves, list) {
-if (slave->error_flag ||
+if (slave->error_flag
-!slave->online ||
+|| !slave->online
-slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+|| slave->requested_state == EC_SLAVE_STATE_UNKNOWN
-slave->current_state == slave->requested_state) continue;
+|| (slave->current_state == slave->requested_state
+&& slave->configured)) continue;
-ec_state_string(slave->current_state, old_state);
-ec_state_string(slave->requested_state, new_state);
+if (master->debug_level) {
-EC_INFO("Changing state of slave %i from %s to %s.\n",
+ec_state_string(slave->current_state, old_state);
-slave->ring_position, old_state, new_state);
+if (slave->current_state != slave->requested_state) {
+ec_state_string(slave->requested_state, new_state);
+EC_DBG("Changing state of slave %i (%s -> %s).\n",
+slave->ring_position, old_state, new_state);
+}
+else if (!slave->configured) {
+EC_DBG("Reconfiguring slave %i (%s).\n",
+slave->ring_position, old_state);
+}
+}
+fsm->master_state = ec_fsm_master_configure_slave;
 fsm->slave = slave;
-fsm->slave_state = ec_fsm_slaveconf_init;
+fsm->slave_state = ec_fsm_slaveconf_state_start;
-fsm->change_new = EC_SLAVE_STATE_INIT;
+fsm->slave_state(fsm); // execute immediately
-fsm->change_state = ec_fsm_change_start;
-fsm->master_state = ec_fsm_master_configure_slave;
-fsm->master_state(fsm); // execute immediately
 return;
 }
 // Check, if EoE processing has to be started
 ec_master_eoe_start(master);
 if (master->mode == EC_MASTER_MODE_IDLE) {
-// nothing to configure. check for pending EEPROM write operations.
+// Check for a pending SDO request
+if (master->sdo_seq_master != master->sdo_seq_user) {
+if (master->debug_level)
+EC_DBG("Processing SDO request...\n");
+slave = master->sdo_request->sdo->slave;
+if (slave->current_state == EC_SLAVE_STATE_INIT
+|| !slave->online) {
+EC_ERR("Failed to process SDO request, slave %i not ready.\n",
+slave->ring_position);
+master->sdo_request->return_code = -1;
+master->sdo_seq_master++;
+}
+else {
+// start uploading SDO
+fsm->slave = slave;
+fsm->master_state = ec_fsm_master_sdo_request;
+fsm->sdo_request = master->sdo_request;
+ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
+ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+return;
+}
+}
+// check, if slaves have an SDO dictionary to read out.
+list_for_each_entry(slave, &master->slaves, list) {
+if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
+|| slave->sdo_dictionary_fetched
+|| slave->current_state == EC_SLAVE_STATE_INIT
+|| jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
+|| !slave->online
+|| slave->error_flag) continue;
+if (master->debug_level) {
+EC_DBG("Fetching SDO dictionary from slave %i.\n",
+slave->ring_position);
+}
+slave->sdo_dictionary_fetched = 1;
+// start fetching SDO dictionary
+fsm->slave = slave;
+fsm->master_state = ec_fsm_master_sdodict;
+ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
+ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+return;
+}
+// check for pending EEPROM write operations.
 list_for_each_entry(slave, &master->slaves, list) {
 if (!slave->new_eeprom_data) continue;
 if (!slave->online || slave->error_flag) {
 kfree(slave->new_eeprom_data);
 continue;
 }
 // found pending EEPROM write operation. execute it!
 EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
+fsm->slave = slave;
 fsm->sii_offset = 0x0000;
-memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
+ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
-fsm->sii_mode = 1;
+slave->new_eeprom_data, EC_FSM_SII_NODE);
-fsm->sii_state = ec_fsm_sii_start_writing;
-fsm->slave = slave;
 fsm->master_state = ec_fsm_master_write_eeprom;
 fsm->master_state(fsm); // execute immediately
 return;
 }
 }
-// nothing to do. restart master state machine.
+fsm->master_state = ec_fsm_master_end;
-fsm->master_state = ec_fsm_master_start;
-fsm->master_state(fsm); // execute immediately
 }
 /*****************************************************************************/
 /**
 // At least one slave is offline. validate!
 EC_INFO("Validating bus.\n");
 fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
 fsm->master_state = ec_fsm_master_validate_vendor;
-fsm->sii_offset = 0x0008; // vendor ID
+ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
-fsm->sii_mode = 0;
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-fsm->sii_state = ec_fsm_sii_start_reading;
-fsm->sii_state(fsm); // execute immediately
 return;
 }
 }
 ec_fsm_master_action_process_states(fsm);
 }
 /*****************************************************************************/
 /**
-Master state: STATES.
+Master state: READ STATES.
 Fetches the AL- and online state of a slave.
 */
 void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = &fsm->datagram;
 uint8_t new_state;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
-fsm->master_state = ec_fsm_master_start;
+EC_ERR("Failed to receive AL state datagram for slave %i!\n",
-fsm->master_state(fsm); // execute immediately
+slave->ring_position);
+fsm->master_state = ec_fsm_master_error;
 return;
 }
 // did the slave not respond to its station address?
 if (datagram->working_counter != 1) {
 if (slave->online) {
 slave->online = 0;
-EC_INFO("Slave %i: offline.\n", slave->ring_position);
+if (slave->master->debug_level)
+EC_DBG("Slave %i: offline.\n", slave->ring_position);
 }
 ec_fsm_master_action_next_slave_state(fsm);
 return;
 }
 // slave responded
 new_state = EC_READ_U8(datagram->data);
 if (!slave->online) { // slave was offline before
-char cur_state[25];
 slave->online = 1;
 slave->error_flag = 0; // clear error flag
 slave->current_state = new_state;
-ec_state_string(slave->current_state, cur_state);
+if (slave->master->debug_level) {
-EC_INFO("Slave %i: online (%s).\n", slave->ring_position, cur_state);
+char cur_state[EC_STATE_STRING_SIZE];
+ec_state_string(slave->current_state, cur_state);
+EC_DBG("Slave %i: online (%s).\n",
+slave->ring_position, cur_state);
+}
 }
 else if (new_state != slave->current_state) {
-char old_state[25], cur_state[25];
+if (slave->master->debug_level) {
-ec_state_string(slave->current_state, old_state);
+char old_state[EC_STATE_STRING_SIZE],
-ec_state_string(new_state, cur_state);
+cur_state[EC_STATE_STRING_SIZE];
-EC_INFO("Slave %i: %s -> %s.\n",
+ec_state_string(slave->current_state, old_state);
-slave->ring_position, old_state, cur_state);
+ec_state_string(new_state, cur_state);
+EC_DBG("Slave %i: %s -> %s.\n",
+slave->ring_position, old_state, cur_state);
+}
 slave->current_state = new_state;
+}
+// check, if new slave state has to be acknowledged
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
+ec_fsm_change_ack(&fsm->fsm_change, slave);
+ec_fsm_change_exec(&fsm->fsm_change);
+fsm->master_state = ec_fsm_master_acknowledge;
+return;
+}
+ec_fsm_master_action_next_slave_state(fsm);
+}
+/*****************************************************************************/
+/**
+Master state: ACKNOWLEDGE
+*/
+void ec_fsm_master_acknowledge(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
+fsm->slave->error_flag = 1;
+EC_ERR("Failed to acknowledge state change on slave %i.\n",
+slave->ring_position);
+fsm->master_state = ec_fsm_master_error;
+return;
 }
 ec_fsm_master_action_next_slave_state(fsm);
 }
 void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
-fsm->sii_state(fsm); // execute SII state machine
+if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-if (fsm->sii_state == ec_fsm_error) {
+if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 fsm->slave->error_flag = 1;
 EC_ERR("Failed to validate vendor ID of slave %i.\n",
 slave->ring_position);
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
+return;
-return;
+}
-}
+if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
-if (fsm->sii_state != ec_fsm_end) return;
+EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
+fsm->master_state = ec_fsm_master_error;
-if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
-EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
-fsm->master_state = ec_fsm_master_start;
-fsm->master_state(fsm); // execute immediately
 return;
 }
 // vendor ID is ok. check product code.
 fsm->master_state = ec_fsm_master_validate_product;
-fsm->sii_offset = 0x000A; // product code
+ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
-fsm->sii_mode = 0;
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-fsm->sii_state = ec_fsm_sii_start_reading;
-fsm->sii_state(fsm); // execute immediately
 }
 /*****************************************************************************/
 /**
 }
 // check next slave
 fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
 }
-EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
+if (fsm->master->debug_level)
+EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
 // write station address
 ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
 EC_WRITE_U16(datagram->data, fsm->slave->station_address);
 ec_master_queue_datagram(fsm->master, datagram);
 void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
-fsm->sii_state(fsm); // execute SII state machine
+if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-if (fsm->sii_state == ec_fsm_error) {
+if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 fsm->slave->error_flag = 1;
 EC_ERR("Failed to validate product code of slave %i.\n",
 slave->ring_position);
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
+return;
-return;
+}
-}
+if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
-if (fsm->sii_state != ec_fsm_end) return;
-if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
 EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
 EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
-EC_READ_U32(fsm->sii_value));
+EC_READ_U32(fsm->fsm_sii.value));
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
 return;
 }
 // have all states been validated?
 if (slave->list.next == &fsm->master->slaves) {
 }
 // validate next slave
 fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
 fsm->master_state = ec_fsm_master_validate_vendor;
-fsm->sii_offset = 0x0008; // vendor ID
+ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
-fsm->sii_mode = 0;
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-fsm->sii_state = ec_fsm_sii_start_reading;
+}
-fsm->sii_state(fsm); // execute immediately
-}
+/*****************************************************************************/
-/*****************************************************************************/
+/**
+Master state: REWRITE ADDRESS.
-/**
-Master state: ADDRESS.
 Checks, if the new station address has been written to the slave.
 */
 void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
 /**< finite state machine */
 }
 /*****************************************************************************/
 /**
-Master state: SCAN.
+Master state: SCAN SLAVES.
 Executes the sub-statemachine for the scanning of a slave.
 */
 void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 fsm->slave_state(fsm); // execute slave state machine
-if (fsm->slave_state != ec_fsm_end
+if (fsm->slave_state != ec_fsm_slave_state_end
-&& fsm->slave_state != ec_fsm_error) return;
+&& fsm->slave_state != ec_fsm_slave_state_error) return;
 // another slave to fetch?
 if (slave->list.next != &master->slaves) {
 fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
 fsm->slave_state = ec_fsm_slavescan_start;
 EC_INFO("Bus scanning completed.\n");
 ec_master_calc_addressing(master);
-// determine initial states.
+// set initial states of all slaves to PREOP to make mailbox
+// communication possible
 list_for_each_entry(slave, &master->slaves, list) {
-if (ec_slave_is_coupler(slave)) {
+ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
-slave->requested_state = EC_SLAVE_STATE_OP;
+}
-}
-else {
+fsm->master_state = ec_fsm_master_end;
-if (master->mode == EC_MASTER_MODE_OPERATION)
+}
-slave->requested_state = EC_SLAVE_STATE_PREOP;
-else
+/*****************************************************************************/
-slave->requested_state = EC_SLAVE_STATE_INIT;
-}
+/**
-}
+Master state: CONFIGURE SLAVES.
-fsm->master_state = ec_fsm_master_start;
-fsm->master_state(fsm); // execute immediately
-}
-/*****************************************************************************/
-/**
-Master state: CONF.
 Starts configuring a slave.
 */
 void ec_fsm_master_configure_slave(ec_fsm_t *fsm
 /**< finite state machine */
 )
 {
 fsm->slave_state(fsm); // execute slave's state machine
-if (fsm->slave_state != ec_fsm_end
+if (fsm->slave_state != ec_fsm_slave_state_end
-&& fsm->slave_state != ec_fsm_error) return;
+&& fsm->slave_state != ec_fsm_slave_state_error) return;
 ec_fsm_master_action_process_states(fsm);
 }
 /*****************************************************************************/
 /**
-Master state: EEPROM.
+Master state: WRITE EEPROM.
 */
 void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
-fsm->sii_state(fsm); // execute SII state machine
+if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-if (fsm->sii_state == ec_fsm_error) {
+if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
 fsm->slave->error_flag = 1;
 EC_ERR("Failed to write EEPROM contents to slave %i.\n",
 slave->ring_position);
 kfree(slave->new_eeprom_data);
 slave->new_eeprom_data = NULL;
-fsm->master_state = ec_fsm_master_start;
+fsm->master_state = ec_fsm_master_error;
-fsm->master_state(fsm); // execute immediately
+return;
-return;
+}
-}
-if (fsm->sii_state != ec_fsm_end) return;
 fsm->sii_offset++;
 if (fsm->sii_offset < slave->new_eeprom_size) {
-memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
+ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
-fsm->sii_state = ec_fsm_sii_start_writing;
+slave->new_eeprom_data + fsm->sii_offset,
-fsm->sii_state(fsm); // execute immediately
+EC_FSM_SII_NODE);
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
 return;
 }
 // finished writing EEPROM
 EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
 // TODO: Evaluate new EEPROM contents!
 // restart master state machine.
 fsm->master_state = ec_fsm_master_start;
 fsm->master_state(fsm); // execute immediately
-return;
+}
+/*****************************************************************************/
+/**
+Master state: SDODICT.
+*/
+void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+ec_master_t *master = fsm->master;
+if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+fsm->master_state = ec_fsm_master_error;
+return;
+}
+// SDO dictionary fetching finished
+if (master->debug_level) {
+unsigned int sdo_count, entry_count;
+ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
+EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
+sdo_count, entry_count, slave->ring_position);
+}
+// restart master state machine.
+fsm->master_state = ec_fsm_master_start;
+fsm->master_state(fsm); // execute immediately
+}
+/*****************************************************************************/
+/**
+Master state: SDO REQUEST.
+*/
+void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_sdo_request_t *request = fsm->sdo_request;
+if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+request->return_code = -1;
+master->sdo_seq_master++;
+fsm->master_state = ec_fsm_master_error;
+return;
+}
+// SDO dictionary fetching finished
+request->return_code = 1;
+master->sdo_seq_master++;
+// restart master state machine.
+fsm->master_state = ec_fsm_master_start;
+fsm->master_state(fsm); // execute immediately
+}
+/*****************************************************************************/
+/**
+State: ERROR.
+*/
+void ec_fsm_master_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+fsm->master_state = ec_fsm_master_start;
+}
+/*****************************************************************************/
+/**
+State: END.
+*/
+void ec_fsm_master_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+fsm->master_state = ec_fsm_master_start;
 }
 /******************************************************************************
 *  slave scan state machine
 *****************************************************************************/
 /**
-Slave state: START_READING.
+Slave scan state: START.
 First state of the slave state machine. Writes the station address to the
 slave, according to its ring position.
 */
 void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
 }
 /*****************************************************************************/
 /**
-Slave state: ADDRESS.
+Slave scan state: ADDRESS.
 */
 void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to write station address of slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 }
 /*****************************************************************************/
 /**
-Slave state: STATE.
+Slave scan state: STATE.
 */
 void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read AL state of slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 slave->current_state = EC_READ_U8(datagram->data);
-if (slave->current_state & EC_ACK) {
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
-EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
+char state_str[EC_STATE_STRING_SIZE];
-slave->ring_position, slave->current_state);
+ec_state_string(slave->current_state, state_str);
-slave->current_state &= 0x0F;
+EC_WARN("Slave %i has state error bit set (%s)!\n",
+slave->ring_position, state_str);
 }
 // read base data
 ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
 ec_master_queue_datagram(fsm->master, datagram);
 }
 /*****************************************************************************/
 /**
-Slave state: BASE.
+Slave scan state: BASE.
 */
 void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read base data of slave %i.\n",
 slave->ring_position);
 return;
 }
 }
 /*****************************************************************************/
 /**
-Slave state: DATALINK.
+Slave scan state: DATALINK.
 */
 void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 unsigned int i;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read DL status of slave %i.\n",
 slave->ring_position);
 return;
 }
 }
 // Start fetching EEPROM size
 fsm->sii_offset = 0x0040; // first category header
-fsm->sii_mode = 1;
+ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
-fsm->sii_state = ec_fsm_sii_start_reading;
 fsm->slave_state = ec_fsm_slavescan_eeprom_size;
 fsm->slave_state(fsm); // execute state immediately
 }
 /*****************************************************************************/
 /**
-Slave state: EEPROM_SIZE.
+Slave scan state: EEPROM SIZE.
 */
 void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 uint16_t cat_type, cat_size;
-// execute SII state machine
+if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-fsm->sii_state(fsm);
+if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-if (fsm->sii_state == ec_fsm_error) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to read EEPROM size of slave %i.\n",
 slave->ring_position);
 return;
 }
-if (fsm->sii_state != ec_fsm_end) return;
+cat_type = EC_READ_U16(fsm->fsm_sii.value);
+cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
-cat_type = EC_READ_U16(fsm->sii_value);
-cat_size = EC_READ_U16(fsm->sii_value + 2);
 if (cat_type != 0xFFFF) { // not the last category
 fsm->sii_offset += cat_size + 2;
-fsm->sii_state = ec_fsm_sii_start_reading;
+ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-fsm->sii_state(fsm); // execute state immediately
+EC_FSM_SII_NODE);
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
 return;
 }
 slave->eeprom_size = (fsm->sii_offset + 1) * 2;
 }
 if (!(slave->eeprom_data =
 (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
 slave->ring_position);
 return;
 }
 // Start fetching EEPROM contents
+fsm->slave_state = ec_fsm_slavescan_eeprom_data;
 fsm->sii_offset = 0x0000;
-fsm->sii_mode = 1;
+ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
-fsm->sii_state = ec_fsm_sii_start_reading;
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-fsm->slave_state = ec_fsm_slavescan_eeprom_data;
+}
-fsm->slave_state(fsm); // execute state immediately
-}
+/*****************************************************************************/
-/*****************************************************************************/
+/**
+Slave scan state: EEPROM DATA.
-/**
-Slave state: EEPROM_DATA.
 */
 void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 uint16_t *cat_word, cat_type, cat_size;
-// execute SII state machine
+if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-fsm->sii_state(fsm);
+if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
-if (fsm->sii_state == ec_fsm_error) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
 slave->ring_position);
 return;
 }
-if (fsm->sii_state != ec_fsm_end) return;
 // 2 words fetched
 if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
-memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
+memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+fsm->fsm_sii.value, 4);
 }
 else { // copy the last word
-memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
+memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+fsm->fsm_sii.value, 2);
 }
 if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
 // fetch the next 2 words
 fsm->sii_offset += 2;
-fsm->sii_state = ec_fsm_sii_start_reading;
+ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
-fsm->sii_state(fsm); // execute state immediately
+EC_FSM_SII_NODE);
+ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
 return;
 }
 // Evaluate EEPROM contents
 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
 cat_size, EC_RX_PDO))
 goto end;
 break;
 default:
-EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+if (fsm->master->debug_level)
-cat_type, slave->ring_position);
+EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+cat_type, slave->ring_position);
 }
 cat_word += cat_size + 2;
 }
-fsm->slave_state = ec_fsm_end;
+fsm->slave_state = ec_fsm_slave_state_end;
 return;
 end:
 EC_ERR("Failed to analyze category data.\n");
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 }
 /******************************************************************************
 *  slave configuration state machine
 *****************************************************************************/
 /**
-Slave state: INIT.
+Slave configuration state: START.
 */
-void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_start(ec_fsm_t *fsm /**< finite state machine */)
 {
+if (fsm->master->debug_level) {
+EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
+}
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+ec_fsm_change_exec(&fsm->fsm_change);
+fsm->slave_state = ec_fsm_slaveconf_state_init;
+}
+/*****************************************************************************/
+/**
+Slave configuration state: INIT.
+*/
+void ec_fsm_slaveconf_state_init(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = &fsm->datagram;
-const ec_sii_sync_t *sync;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-fsm->change_state(fsm); // execute state change state machine
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
-if (fsm->change_state == ec_fsm_error) {
 slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
-if (fsm->change_state != ec_fsm_end) return;
+slave->configured = 1;
-// slave is now in INIT
+if (master->debug_level) {
-if (slave->current_state == slave->requested_state) {
+EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
-fsm->slave_state = ec_fsm_end; // successful
-return;
 }
 // check and reset CRC fault counters
 //ec_slave_check_crc(slave);
 // TODO: Implement state machine for CRC checking.
+if (!slave->base_fmmu_count) { // skip FMMU configuration
+ec_fsm_slaveconf_enter_sync(fsm);
+return;
+}
+if (master->debug_level)
+EC_DBG("Clearing FMMU configurations of slave %i...\n",
+slave->ring_position);
+// clear FMMU configurations
+ec_datagram_npwr(datagram, slave->station_address,
+0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ec_master_queue_datagram(master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_state_clear_fmmus;
+}
+/*****************************************************************************/
+/**
+Slave configuration state: CLEAR FMMU.
+*/
+void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *fsm
+/**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->slave->error_flag = 1;
+fsm->slave_state = ec_fsm_slave_state_error;
+EC_ERR("Failed to clear FMMUs on slave %i.\n",
+fsm->slave->ring_position);
+return;
+}
+ec_fsm_slaveconf_enter_sync(fsm);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_sync(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_slave_t *slave = fsm->slave;
+ec_datagram_t *datagram = &fsm->datagram;
+const ec_sii_sync_t *sync;
+ec_sii_sync_t mbox_sync;
+// slave is now in INIT
+if (slave->current_state == slave->requested_state) {
+fsm->slave_state = ec_fsm_slave_state_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
+return;
+}
 if (!slave->base_sync_count) { // no sync managers
-fsm->slave_state = ec_fsm_slaveconf_preop;
+ec_fsm_slaveconf_enter_preop(fsm);
-fsm->change_new = EC_SLAVE_STATE_PREOP;
+return;
-fsm->change_state = ec_fsm_change_start;
+}
-fsm->change_state(fsm); // execute immediately
-return;
+if (master->debug_level) {
+EC_DBG("Configuring sync managers of slave %i.\n",
+slave->ring_position);
 }
 // configure sync managers
 ec_datagram_npwr(datagram, slave->station_address, 0x0800,
 EC_SYNC_SIZE * slave->base_sync_count);
 memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
-list_for_each_entry(sync, &slave->sii_syncs, list) {
+if (list_empty(&slave->sii_syncs)) {
-if (sync->index >= slave->base_sync_count) {
+if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
-EC_ERR("Invalid sync manager configuration found!");
+if (slave->master->debug_level)
-fsm->slave->error_flag = 1;
+EC_DBG("Guessing sync manager settings for slave %i.\n",
-fsm->slave_state = ec_fsm_error;
+slave->ring_position);
-return;
+mbox_sync.index = 0;
-}
+mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
-ec_sync_config(sync, slave,
+mbox_sync.length = slave->sii_tx_mailbox_size;
-datagram->data + EC_SYNC_SIZE * sync->index);
+mbox_sync.control_register = 0x26;
+mbox_sync.enable = 0x01;
+mbox_sync.est_length = 0;
+ec_sync_config(&mbox_sync, slave,
+datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+mbox_sync.index = 1;
+mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
+mbox_sync.length = slave->sii_rx_mailbox_size;
+mbox_sync.control_register = 0x22;
+mbox_sync.enable = 0x01;
+mbox_sync.est_length = 0;
+ec_sync_config(&mbox_sync, slave,
+datagram->data + EC_SYNC_SIZE * mbox_sync.index);
+}
+}
+else if (slave->sii_mailbox_protocols) { // mailboxes present
+list_for_each_entry(sync, &slave->sii_syncs, list) {
+// only configure mailbox sync-managers
+if (sync->index != 0 && sync->index != 1) continue;
+ec_sync_config(sync, slave,
+datagram->data + EC_SYNC_SIZE * sync->index);
+}
 }
 ec_master_queue_datagram(fsm->master, datagram);
-fsm->slave_state = ec_fsm_slaveconf_sync;
+fsm->slave_state = ec_fsm_slaveconf_state_sync;
 }
 /*****************************************************************************/
 /**
-Slave state: SYNC.
+Slave configuration state: SYNC.
 */
-void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_sync(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to set sync managers on slave %i.\n",
 slave->ring_position);
 return;
 }
-fsm->slave_state = ec_fsm_slaveconf_preop;
+ec_fsm_slaveconf_enter_preop(fsm);
-fsm->change_new = EC_SLAVE_STATE_PREOP;
+}
-fsm->change_state = ec_fsm_change_start;
-fsm->change_state(fsm); // execute immediately
+/*****************************************************************************/
-}
+/**
-/*****************************************************************************/
+*/
-/**
+void ec_fsm_slaveconf_enter_preop(ec_fsm_t *fsm /**< finite state machine */)
-Slave state: PREOP.
+{
-*/
+fsm->slave_state = ec_fsm_slaveconf_state_preop;
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
-void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
+ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
+}
+/*****************************************************************************/
+/**
+Slave configuration state: PREOP.
+*/
+void ec_fsm_slaveconf_state_preop(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 ec_master_t *master = fsm->master;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
+slave->error_flag = 1;
+fsm->slave_state = ec_fsm_slave_state_error;
+return;
+}
+// slave is now in PREOP
+slave->jiffies_preop = fsm->datagram.jiffies_received;
+if (master->debug_level) {
+EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+}
+if (slave->current_state == slave->requested_state) {
+fsm->slave_state = ec_fsm_slave_state_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
+return;
+}
+ec_fsm_slaveconf_enter_sync2(fsm);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_sii_sync_t *sync;
+if (list_empty(&slave->sii_syncs)) {
+ec_fsm_slaveconf_enter_fmmu(fsm);
+return;
+}
+// configure sync managers for process data
+ec_datagram_npwr(datagram, slave->station_address, 0x0800,
+EC_SYNC_SIZE * slave->base_sync_count);
+memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+list_for_each_entry(sync, &slave->sii_syncs, list) {
+ec_sync_config(sync, slave,
+datagram->data + EC_SYNC_SIZE * sync->index);
+}
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_state_sync2;
+}
+/*****************************************************************************/
+/**
+Slave configuration state: SYNC2.
+*/
+void ec_fsm_slaveconf_state_sync2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+slave->error_flag = 1;
+fsm->slave_state = ec_fsm_slave_state_error;
+EC_ERR("Failed to set process data sync managers on slave %i.\n",
+slave->ring_position);
+return;
+}
+ec_fsm_slaveconf_enter_fmmu(fsm);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+ec_master_t *master = slave->master;
 ec_datagram_t *datagram = &fsm->datagram;
 unsigned int j;
-fsm->change_state(fsm); // execute state change state machine
-if (fsm->change_state == ec_fsm_error) {
-slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
-return;
-}
-if (fsm->change_state != ec_fsm_end) return;
-// slave is now in PREOP
-if (slave->current_state == slave->requested_state) {
-fsm->slave_state = ec_fsm_end; // successful
-return;
-}
 if (!slave->base_fmmu_count) { // skip FMMU configuration
-if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+ec_fsm_slaveconf_enter_sdoconf(fsm);
-fsm->slave_state = ec_fsm_slaveconf_saveop;
-fsm->change_new = EC_SLAVE_STATE_SAVEOP;
-fsm->change_state = ec_fsm_change_start;
-fsm->change_state(fsm); // execute immediately
-return;
-}
-fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
-fsm->coe_state = ec_fsm_coe_down_start;
-fsm->coe_state(fsm); // execute immediately
 return;
 }
 // configure FMMUs
 ec_datagram_npwr(datagram, slave->station_address,
 ec_fmmu_config(&slave->fmmus[j], slave,
 datagram->data + EC_FMMU_SIZE * j);
 }
 ec_master_queue_datagram(master, datagram);
-fsm->slave_state = ec_fsm_slaveconf_fmmu;
+fsm->slave_state = ec_fsm_slaveconf_state_fmmu;
 }
 /*****************************************************************************/
 /**
-Slave state: FMMU.
+Slave configuration state: FMMU.
 */
-void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 EC_ERR("Failed to set FMMUs on slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
 // No CoE configuration to be applied? Jump to SAVEOP state.
 if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-// set state to SAVEOP
+ec_fsm_slaveconf_enter_saveop(fsm);
-fsm->slave_state = ec_fsm_slaveconf_saveop;
+return;
-fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+}
-fsm->change_state = ec_fsm_change_start;
-fsm->change_state(fsm); // execute immediately
+ec_fsm_slaveconf_enter_sdoconf(fsm);
-return;
+}
-}
+/*****************************************************************************/
-fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+/**
-fsm->coe_state = ec_fsm_coe_down_start;
+*/
-fsm->coe_state(fsm); // execute immediately
-}
+void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
+{
-/*****************************************************************************/
+ec_slave_t *slave = fsm->slave;
-/**
+if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-Slave state: SDOCONF.
+ec_fsm_slaveconf_enter_saveop(fsm);
-*/
+return;
+}
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
-{
+// start SDO configuration
-fsm->coe_state(fsm); // execute CoE state machine
+fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
+fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
-if (fsm->coe_state == ec_fsm_error) {
+ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+}
+/*****************************************************************************/
+/**
+Slave configuration state: SDOCONF.
+*/
+void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
+{
+if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
-if (fsm->coe_state != ec_fsm_end) return;
 // Another SDO to configure?
 if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
 fsm->sdodata = list_entry(fsm->sdodata->list.next,
 ec_sdo_data_t, list);
-fsm->coe_state = ec_fsm_coe_down_start;
+ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
-fsm->coe_state(fsm); // execute immediately
+ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 return;
 }
 // All SDOs are now configured.
 // set state to SAVEOP
-fsm->slave_state = ec_fsm_slaveconf_saveop;
+ec_fsm_slaveconf_enter_saveop(fsm);
-fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+}
-fsm->change_state = ec_fsm_change_start;
-fsm->change_state(fsm); // execute immediately
+/*****************************************************************************/
-}
+/**
-/*****************************************************************************/
+*/
-/**
+void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *fsm /**< finite state machine */)
-Slave state: SAVEOP.
+{
-*/
+fsm->slave_state = ec_fsm_slaveconf_state_saveop;
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
-void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
+ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-{
+}
-fsm->change_state(fsm); // execute state change state machine
+/*****************************************************************************/
-if (fsm->change_state == ec_fsm_error) {
+/**
+Slave configuration state: SAVEOP.
+*/
+void ec_fsm_slaveconf_state_saveop(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_slave_t *slave = fsm->slave;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
 fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+fsm->slave_state = ec_fsm_slave_state_error;
 return;
 }
-if (fsm->change_state != ec_fsm_end) return;
 // slave is now in SAVEOP
+if (master->debug_level) {
+EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
+}
 if (fsm->slave->current_state == fsm->slave->requested_state) {
-fsm->slave_state = ec_fsm_end; // successful
+fsm->slave_state = ec_fsm_slave_state_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
 return;
 }
 // set state to OP
-fsm->slave_state = ec_fsm_slaveconf_op;
+fsm->slave_state = ec_fsm_slaveconf_state_op;
-fsm->change_new = EC_SLAVE_STATE_OP;
+ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
-fsm->change_state = ec_fsm_change_start;
+ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-fsm->change_state(fsm); // execute immediately
+}
-}
+/*****************************************************************************/
-/*****************************************************************************/
+/**
-/**
+Slave configuration state: OP
-Slave state: OP
+*/
-*/
+void ec_fsm_slaveconf_state_op(ec_fsm_t *fsm /**< finite state machine */)
-void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
+{
-{
+ec_master_t *master = fsm->master;
-fsm->change_state(fsm); // execute state change state machine
+ec_slave_t *slave = fsm->slave;
-if (fsm->change_state == ec_fsm_error) {
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
-fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
-return;
+slave->error_flag = 1;
-}
+fsm->slave_state = ec_fsm_slave_state_error;
+return;
-if (fsm->change_state != ec_fsm_end) return;
+}
 // slave is now in OP
-fsm->slave_state = ec_fsm_end; // successful
-}
+if (master->debug_level) {
+EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
-/******************************************************************************
+EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
-*  SII state machine
+}
-*****************************************************************************/
+fsm->slave_state = ec_fsm_slave_state_end; // successful
-/**
-SII state: START_READING.
-Starts reading the slave information interface.
-*/
-void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-// initiate read operation
-if (fsm->sii_mode) {
-ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
-}
-else {
-ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
-}
-EC_WRITE_U8 (datagram->data,     0x00); // read-only access
-EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
-EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->sii_state = ec_fsm_sii_read_check;
-}
-/*****************************************************************************/
-/**
-SII state: READ_CHECK.
-Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
-*/
-void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-EC_ERR("SII: Reception of read datagram failed.\n");
-fsm->sii_state = ec_fsm_error;
-return;
-}
-fsm->sii_start = get_cycles();
-// issue check/fetch datagram
-if (fsm->sii_mode) {
-ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
-}
-else {
-ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
-}
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->sii_state = ec_fsm_sii_read_fetch;
-}
-/*****************************************************************************/
-/**
-SII state: READ_FETCH.
-Fetches the result of an SII-read datagram.
-*/
-void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-EC_ERR("SII: Reception of check/fetch datagram failed.\n");
-fsm->sii_state = ec_fsm_error;
-return;
-}
-// check "busy bit"
-if (EC_READ_U8(datagram->data + 1) & 0x81) {
-// still busy... timeout?
-if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
-EC_ERR("SII: Timeout.\n");
-fsm->sii_state = ec_fsm_error;
-#if 0
-EC_DBG("SII busy: %02X %02X %02X %02X\n",
-EC_READ_U8(datagram->data + 0),
-EC_READ_U8(datagram->data + 1),
-EC_READ_U8(datagram->data + 2),
-EC_READ_U8(datagram->data + 3));
-#endif
-}
-// issue check/fetch datagram again
-if (fsm->sii_mode) {
-ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
-}
-else {
-ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
-}
-ec_master_queue_datagram(fsm->master, datagram);
-return;
-}
-#if 0
-EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
-EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
-EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
-EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
-EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
-#endif
-// SII value received.
-memcpy(fsm->sii_value, datagram->data + 6, 4);
-fsm->sii_state = ec_fsm_end;
-}
-/*****************************************************************************/
-/**
-SII state: START_WRITING.
-Starts reading the slave information interface.
-*/
-void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-// initiate write operation
-ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
-EC_WRITE_U8 (datagram->data,     0x01); // enable write access
-EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
-EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
-memcpy(datagram->data + 6, fsm->sii_value, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->sii_state = ec_fsm_sii_write_check;
-}
-/*****************************************************************************/
-/**
-SII state: WRITE_CHECK.
-*/
-void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-EC_ERR("SII: Reception of write datagram failed.\n");
-fsm->sii_state = ec_fsm_error;
-return;
-}
-fsm->sii_start = get_cycles();
-// issue check/fetch datagram
-ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->sii_state = ec_fsm_sii_write_check2;
-}
-/*****************************************************************************/
-/**
-SII state: WRITE_CHECK2.
-*/
-void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-EC_ERR("SII: Reception of write check datagram failed.\n");
-fsm->sii_state = ec_fsm_error;
-return;
-}
-if (EC_READ_U8(datagram->data + 1) & 0x82) {
-// still busy... timeout?
-if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
-EC_ERR("SII: Write timeout.\n");
-fsm->sii_state = ec_fsm_error;
-}
-// issue check/fetch datagram again
-ec_master_queue_datagram(fsm->master, datagram);
-}
-else if (EC_READ_U8(datagram->data + 1) & 0x40) {
-EC_ERR("SII: Write operation failed!\n");
-fsm->sii_state = ec_fsm_error;
-}
-else { // success
-fsm->sii_state = ec_fsm_end;
-}
-}
-/******************************************************************************
-*  state change state machine
-*****************************************************************************/
-/**
-Change state: START.
-*/
-void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-fsm->change_jiffies = jiffies;
-// write new state to slave
-ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
-EC_WRITE_U16(datagram->data, fsm->change_new);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->change_state = ec_fsm_change_check;
-}
-/*****************************************************************************/
-/**
-Change state: CHECK.
-*/
-void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state != EC_DATAGRAM_RECEIVED) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Failed to send state datagram to slave %i!\n",
-fsm->slave->ring_position);
-return;
-}
-if (datagram->working_counter != 1) {
-if (jiffies - fsm->change_jiffies >= 3 * HZ) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
-" respond.\n", fsm->change_new, fsm->slave->ring_position);
-return;
-}
-// repeat writing new state to slave
-ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
-EC_WRITE_U16(datagram->data, fsm->change_new);
-ec_master_queue_datagram(fsm->master, datagram);
-return;
-}
-fsm->change_jiffies = jiffies;
-// read AL status from slave
-ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->change_state = ec_fsm_change_status;
-}
-/*****************************************************************************/
-/**
-Change state: STATUS.
-*/
-void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Failed to check state 0x%02X on slave %i.\n",
-fsm->change_new, slave->ring_position);
-return;
-}
-slave->current_state = EC_READ_U8(datagram->data);
-if (slave->current_state == fsm->change_new) {
-// state has been set successfully
-fsm->change_state = ec_fsm_end;
-return;
-}
-if (slave->current_state & 0x10) {
-// state change error
-fsm->change_new = slave->current_state & 0x0F;
-EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
-" (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
-slave->current_state);
-// fetch AL status error code
-ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->change_state = ec_fsm_change_code;
-return;
-}
-if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
-// timeout while checking
-fsm->change_state = ec_fsm_error;
-EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
-fsm->change_new, slave->ring_position);
-return;
-}
-// still old state: check again
-ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-}
-/*****************************************************************************/
-/**
-Application layer status messages.
-*/
-const ec_code_msg_t al_status_messages[] = {
-{0x0001, "Unspecified error"},
-{0x0011, "Invalud requested state change"},
-{0x0012, "Unknown requested state"},
-{0x0013, "Bootstrap not supported"},
-{0x0014, "No valid firmware"},
-{0x0015, "Invalid mailbox configuration"},
-{0x0016, "Invalid mailbox configuration"},
-{0x0017, "Invalid sync manager configuration"},
-{0x0018, "No valid inputs available"},
-{0x0019, "No valid outputs"},
-{0x001A, "Synchronisation error"},
-{0x001B, "Sync manager watchdog"},
-{0x001C, "Invalid sync manager types"},
-{0x001D, "Invalid output configuration"},
-{0x001E, "Invalid input configuration"},
-{0x001F, "Invalid watchdog configuration"},
-{0x0020, "Slave needs cold start"},
-{0x0021, "Slave needs INIT"},
-{0x0022, "Slave needs PREOP"},
-{0x0023, "Slave needs SAVEOP"},
-{0x0030, "Invalid DC SYNCH configuration"},
-{0x0031, "Invalid DC latch configuration"},
-{0x0032, "PLL error"},
-{0x0033, "Invalid DC IO error"},
-{0x0034, "Invalid DC timeout error"},
-{0x0042, "MBOX EOE"},
-{0x0043, "MBOX COE"},
-{0x0044, "MBOX FOE"},
-{0x0045, "MBOX SOE"},
-{0x004F, "MBOX VOE"},
-{}
-};
-/*****************************************************************************/
-/**
-Change state: CODE.
-*/
-void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-uint32_t code;
-const ec_code_msg_t *al_msg;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Reception of AL status code datagram failed.\n");
-return;
-}
-if ((code = EC_READ_U16(datagram->data))) {
-for (al_msg = al_status_messages; al_msg->code; al_msg++) {
-if (al_msg->code != code) continue;
-EC_ERR("AL status message 0x%04X: \"%s\".\n",
-al_msg->code, al_msg->message);
-break;
-}
-if (!al_msg->code)
-EC_ERR("Unknown AL status code 0x%04X.\n", code);
-}
-// acknowledge "old" slave state
-ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
-EC_WRITE_U16(datagram->data, slave->current_state);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->change_state = ec_fsm_change_ack;
-}
-/*****************************************************************************/
-/**
-Change state: ACK.
-*/
-void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Reception of state ack datagram failed.\n");
-return;
-}
-fsm->change_jiffies = jiffies;
-// read new AL status
-ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->change_state = ec_fsm_change_check_ack;
-}
-/*****************************************************************************/
-/**
-Change state: CHECK ACK.
-*/
-void ec_fsm_change_check_ack(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-ec_slave_state_t ack_state;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->change_state = ec_fsm_error;
-EC_ERR("Reception of state ack check datagram failed.\n");
-return;
-}
-ack_state = EC_READ_U8(datagram->data);
-if (ack_state == slave->current_state) {
-fsm->change_state = ec_fsm_error;
-EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
-slave->current_state, slave->ring_position);
-return;
-}
-if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
-// timeout while checking
-slave->current_state = EC_SLAVE_STATE_UNKNOWN;
-fsm->change_state = ec_fsm_error;
-EC_ERR("Timeout while acknowleging state 0x%02X on slave %i.\n",
-fsm->change_new, slave->ring_position);
-return;
-}
-// reread new AL status
-ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
-ec_master_queue_datagram(fsm->master, datagram);
-}
-/******************************************************************************
-*  CoE state machine
-*****************************************************************************/
-/**
-CoE state: DOWN_START.
-*/
-void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-ec_sdo_data_t *sdodata = fsm->sdodata;
-uint8_t *data;
-EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
-sdodata->index, sdodata->subindex, slave->ring_position);
-if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
-EC_ERR("SDO fragmenting not supported yet!\n");
-fsm->coe_state = ec_fsm_error;
-return;
-}
-if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
-sdodata->size + 10))) {
-fsm->coe_state = ec_fsm_error;
-return;
-}
-EC_WRITE_U16(data, 0x2 << 12); // SDO request
-EC_WRITE_U8 (data + 2, (0x1 // size specified
-| 0x1 << 5)); // Download request
-EC_WRITE_U16(data + 3, sdodata->index);
-EC_WRITE_U8 (data + 5, sdodata->subindex);
-EC_WRITE_U32(data + 6, sdodata->size);
-memcpy(data + 10, sdodata->data, sdodata->size);
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->coe_state = ec_fsm_coe_down_request;
-}
-/*****************************************************************************/
-/**
-CoE state: DOWN_REQUEST.
-*/
-void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->coe_state = ec_fsm_error;
-EC_ERR("Reception of CoE download request failed.\n");
-return;
-}
-fsm->coe_start = get_cycles();
-ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->coe_state = ec_fsm_coe_down_check;
-}
-/*****************************************************************************/
-/**
-CoE state: DOWN_CHECK.
-*/
-void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->coe_state = ec_fsm_error;
-EC_ERR("Reception of CoE mailbox check datagram failed.\n");
-return;
-}
-if (!ec_slave_mbox_check(datagram)) {
-if (get_cycles() - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-fsm->coe_state = ec_fsm_error;
-EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
-slave->ring_position);
-return;
-}
-ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-ec_master_queue_datagram(fsm->master, datagram);
-return;
-}
-// Fetch response
-ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-ec_master_queue_datagram(fsm->master, datagram);
-fsm->coe_state = ec_fsm_coe_down_response;
-}
-/*****************************************************************************/
-/**
-CoE state: DOWN_RESPONSE.
-*/
-void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)
-{
-ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
-uint8_t *data, mbox_prot;
-size_t rec_size;
-ec_sdo_data_t *sdodata = fsm->sdodata;
-if (datagram->state != EC_DATAGRAM_RECEIVED
-|| datagram->working_counter != 1) {
-fsm->coe_state = ec_fsm_error;
-EC_ERR("Reception of CoE download response failed.\n");
-return;
-}
-if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-fsm->coe_state = ec_fsm_error;
-return;
-}
-if (mbox_prot != 0x03) { // CoE
-EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-fsm->coe_state = ec_fsm_error;
-	return;
-}
-if (rec_size < 6) {
-fsm->coe_state = ec_fsm_error;
-EC_ERR("Received data is too small (%i bytes):\n", rec_size);
-ec_print_data(data, rec_size);
-return;
-}
-if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-fsm->coe_state = ec_fsm_error;
-EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
-sdodata->index, sdodata->subindex, sdodata->size,
-slave->ring_position);
-if (rec_size < 10) {
-EC_ERR("Incomplete Abort command:\n");
-ec_print_data(data, rec_size);
-}
-else
-ec_canopen_abort_msg(EC_READ_U32(data + 6));
-return;
-}
-if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
-EC_READ_U16(data + 3) != sdodata->index || // index
-EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
-fsm->coe_state = ec_fsm_error;
-EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
-sdodata->index, sdodata->subindex, sdodata->size);
-EC_ERR("Invalid SDO download response at slave %i!\n",
-slave->ring_position);
-ec_print_data(data, rec_size);
-return;
-}
-fsm->coe_state = ec_fsm_end; // success
-}
-/*****************************************************************************/
-/**
-SDO abort messages.
-The "abort SDO transfer request" supplies an abort code,
-which can be translated to clear text. This table does
-the mapping of the codes and messages.
-*/
-const ec_code_msg_t sdo_abort_messages[] = {
-{0x05030000, "Toggle bit not changed"},
-{0x05040000, "SDO protocol timeout"},
-{0x05040001, "Client/Server command specifier not valid or unknown"},
-{0x05040005, "Out of memory"},
-{0x06010000, "Unsupported access to an object"},
-{0x06010001, "Attempt to read a write-only object"},
-{0x06010002, "Attempt to write a read-only object"},
-{0x06020000, "This object does not exist in the object directory"},
-{0x06040041, "The object cannot be mapped into the PDO"},
-{0x06040042, "The number and length of the objects to be mapped would"
-" exceed the PDO length"},
-{0x06040043, "General parameter incompatibility reason"},
-{0x06040047, "Gerneral internal incompatibility in device"},
-{0x06060000, "Access failure due to a hardware error"},
-{0x06070010, "Data type does not match, length of service parameter does"
-" not match"},
-{0x06070012, "Data type does not match, length of service parameter too"
-" high"},
-{0x06070013, "Data type does not match, length of service parameter too"
-" low"},
-{0x06090011, "Subindex does not exist"},
-{0x06090030, "Value range of parameter exceeded"},
-{0x06090031, "Value of parameter written too high"},
-{0x06090032, "Value of parameter written too low"},
-{0x06090036, "Maximum value is less than minimum value"},
-{0x08000000, "General error"},
-{0x08000020, "Data cannot be transferred or stored to the application"},
-{0x08000021, "Data cannot be transferred or stored to the application"
-" because of local control"},
-{0x08000022, "Data cannot be transferred or stored to the application"
-" because of the present device state"},
-{0x08000023, "Object dictionary dynamic generation fails or no object"
-" dictionary is present"},
-{}
-};
-/*****************************************************************************/
-/**
-Outputs an SDO abort message.
-*/
-void ec_canopen_abort_msg(uint32_t abort_code)
-{
-const ec_code_msg_t *abort_msg;
-for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
-if (abort_msg->code == abort_code) {
-EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
-abort_msg->code, abort_msg->message);
-return;
-}
-}
-EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
 }
 /******************************************************************************
 *  Common state functions
 *****************************************************************************/
 /**
 State: ERROR.
 */
-void ec_fsm_error(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slave_state_error(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
 State: END.
 */
-void ec_fsm_end(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_slave_state_end(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/

branch	stable-1.1
changeset 1732	1cc865ba17c2
parent 1731	60b2aad9d40b