--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.c	Thu Nov 26 15:33:48 2009 +0100
@@ -0,0 +1,185 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * EtherCAT slave (SDO) state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+void ec_fsm_slave_state_idle(ec_fsm_slave_t *);
+void ec_fsm_slave_state_sdo_request(ec_fsm_slave_t *);
+
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_slave_init(
+        ec_fsm_slave_t *fsm, /**< Slave state machine. */
+        ec_slave_t *slave, /**< EtherCAT slave. */
+        ec_datagram_t *datagram /**< Datagram object to use. */
+        )
+{
+    fsm->slave = slave;
+    fsm->datagram = datagram;
+    fsm->datagram->data_size = 0;
+    fsm->state = ec_fsm_slave_state_idle;
+
+    // init sub-state-machines
+    ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_slave_clear(
+        ec_fsm_slave_t *fsm /**< Master state machine. */
+        )
+{
+    // clear sub-state machines
+    ec_fsm_coe_clear(&fsm->fsm_coe);
+}
+
+/*****************************************************************************/
+
+/** Executes the current state of the state machine.
+ *
+ * If the state machine's datagram is not sent or received yet, the execution
+ * of the state machine is delayed to the next cycle.
+ */
+void ec_fsm_slave_exec(
+        ec_fsm_slave_t *fsm /**< Slave state machine. */
+        )
+{
+    if (fsm->datagram->state == EC_DATAGRAM_SENT
+        || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
+        // datagram was not sent or received yet.
+        return;
+    }
+
+    fsm->state(fsm);
+    return;
+}
+
+/******************************************************************************
+ * Slave state machine
+ *****************************************************************************/
+
+/** Slave state: IDLE.
+ *
+ * Check for pending SDO requests and process one.
+ *
+ */
+void ec_fsm_slave_state_idle(
+        ec_fsm_slave_t *fsm /**< Slave state machine. */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_master_sdo_request_t *request, *next;
+
+    // search the first matching external request to be processed
+    list_for_each_entry_safe(request, next, &master->slave_sdo_requests, list) {
+        if (request->slave != slave)
+            continue;
+        list_del_init(&request->list); // dequeue
+        request->req.state = EC_INT_REQUEST_BUSY;
+
+        if (slave->current_state == EC_SLAVE_STATE_INIT) {
+            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
+                    slave->ring_position);
+            request->req.state = EC_INT_REQUEST_FAILURE;
+            wake_up(&master->sdo_queue);
+            continue;
+        }
+
+        // Found pending SDO request. Execute it!
+        if (master->debug_level)
+            EC_DBG("Processing SDO request for slave %u...\n",
+                    slave->ring_position);
+
+        // Start SDO transfer
+        fsm->sdo_request = &request->req;
+        fsm->state = ec_fsm_slave_state_sdo_request;
+        ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
+        ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
+        return;
+    }
+}
+
+/*****************************************************************************/
+
+/** Slave state: SDO_REQUEST.
+ */
+void ec_fsm_slave_state_sdo_request(
+        ec_fsm_slave_t *fsm /**< Slave state machine. */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_sdo_request_t *request = fsm->sdo_request;
+
+    if (ec_fsm_coe_exec(&fsm->fsm_coe))
+    {
+        ec_master_queue_sdo_datagram(fsm->slave->master,fsm->datagram);
+        return;
+    }
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
+        EC_DBG("Failed to process SDO request for slave %u.\n",
+                fsm->slave->ring_position);
+        request->state = EC_INT_REQUEST_FAILURE;
+        wake_up(&master->sdo_queue);
+        fsm->sdo_request = NULL;
+        fsm->state = ec_fsm_slave_state_idle;
+        return;
+    }
+
+    // SDO request finished
+    request->state = EC_INT_REQUEST_SUCCESS;
+    wake_up(&master->sdo_queue);
+
+    if (master->debug_level)
+        EC_DBG("Finished SDO request for slave %u.\n",
+                fsm->slave->ring_position);
+
+    fsm->sdo_request = NULL;
+    fsm->datagram->data_size = 0;
+    fsm->state = ec_fsm_slave_state_idle;
+}