--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,1758 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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 right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "fsm.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+/**
+ Size of memory to allocate while reading categories.
+*/
+
+#define EC_CAT_MEM 0x100
+
+/*****************************************************************************/
+
+const ec_code_msg_t al_status_messages[];
+
+/*****************************************************************************/
+
+void ec_fsm_master_start(ec_fsm_t *);
+void ec_fsm_master_broadcast(ec_fsm_t *);
+void ec_fsm_master_proc_states(ec_fsm_t *);
+void ec_fsm_master_scan(ec_fsm_t *);
+void ec_fsm_master_states(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_reconfigure(ec_fsm_t *);
+void ec_fsm_master_address(ec_fsm_t *);
+void ec_fsm_master_conf(ec_fsm_t *);
+
+void ec_fsm_slave_start_reading(ec_fsm_t *);
+void ec_fsm_slave_read_status(ec_fsm_t *);
+void ec_fsm_slave_read_base(ec_fsm_t *);
+void ec_fsm_slave_read_dl(ec_fsm_t *);
+void ec_fsm_slave_prepare_sii(ec_fsm_t *);
+void ec_fsm_slave_read_sii(ec_fsm_t *);
+void ec_fsm_slave_category_header(ec_fsm_t *);
+void ec_fsm_slave_category_data(ec_fsm_t *);
+void ec_fsm_slave_end(ec_fsm_t *);
+
+void ec_fsm_slave_conf(ec_fsm_t *);
+void ec_fsm_slave_sync(ec_fsm_t *);
+void ec_fsm_slave_preop(ec_fsm_t *);
+void ec_fsm_slave_fmmu(ec_fsm_t *);
+void ec_fsm_slave_saveop(ec_fsm_t *);
+void ec_fsm_slave_op(ec_fsm_t *);
+void ec_fsm_slave_op2(ec_fsm_t *);
+
+void ec_fsm_sii_start_reading(ec_fsm_t *);
+void ec_fsm_sii_check(ec_fsm_t *);
+void ec_fsm_sii_fetch(ec_fsm_t *);
+void ec_fsm_sii_end(ec_fsm_t *);
+void ec_fsm_sii_error(ec_fsm_t *);
+
+void ec_fsm_change_start(ec_fsm_t *);
+void ec_fsm_change_check(ec_fsm_t *);
+void ec_fsm_change_status(ec_fsm_t *);
+void ec_fsm_change_code(ec_fsm_t *);
+void ec_fsm_change_ack(ec_fsm_t *);
+void ec_fsm_change_ack2(ec_fsm_t *);
+void ec_fsm_change_end(ec_fsm_t *);
+void ec_fsm_change_error(ec_fsm_t *);
+
+/*****************************************************************************/
+
+/**
+ Constructor.
+*/
+
+int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
+ ec_master_t *master /**< EtherCAT master */
+ )
+{
+ fsm->master = master;
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_slaves_responding = 0;
+ fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
+ fsm->master_validation = 0;
+ fsm->slave_cat_data = NULL;
+
+ ec_command_init(&fsm->command);
+ if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {
+ EC_ERR("FSM failed to allocate FSM command.\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Destructor.
+*/
+
+void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
+{
+ if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
+ ec_command_clear(&fsm->command);
+}
+
+/*****************************************************************************/
+
+/**
+ 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;
+
+ if (fsm->slave_cat_data) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the current state of the state machine.
+*/
+
+void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->master_state(fsm);
+}
+
+/******************************************************************************
+ * master state machine
+ *****************************************************************************/
+
+/**
+ Master state: START.
+ Starts with getting slave count and slave states.
+*/
+
+void ec_fsm_master_start(ec_fsm_t *fsm)
+{
+ ec_command_brd(&fsm->command, 0x0130, 2);
+ ec_master_queue_command(fsm->master, &fsm->command);
+ fsm->master_state = ec_fsm_master_broadcast;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: BROADCAST.
+ Processes the broadcast read slave count and slaves states.
+*/
+
+void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ unsigned int topology_change, states_change, i;
+ ec_slave_t *slave;
+ ec_master_t *master = fsm->master;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ if (!master->device->link_state) {
+ fsm->master_slaves_responding = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ slave->online = 0;
+ }
+ }
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ topology_change = (command->working_counter !=
+ fsm->master_slaves_responding);
+ states_change = (EC_READ_U8(command->data) != fsm->master_slave_states);
+
+ fsm->master_slave_states = EC_READ_U8(command->data);
+ fsm->master_slaves_responding = command->working_counter;
+
+ if (topology_change) {
+ EC_INFO("%i slave%s responding.\n",
+ fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+
+ if (master->mode == EC_MASTER_MODE_RUNNING) {
+ if (fsm->master_slaves_responding == master->slave_count) {
+ fsm->master_validation = 1; // start validation later
+ }
+ else {
+ EC_WARN("Invalid slave count. Bus in tainted state.\n");
+ }
+ }
+ }
+
+ if (states_change) {
+ EC_INFO("Slave states: ");
+ ec_print_states(fsm->master_slave_states);
+ printk(".\n");
+ }
+
+ // topology change in free-run mode: clear all slaves and scan the bus
+ if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {
+ EC_INFO("Scanning bus.\n");
+
+ ec_master_eoe_stop(master);
+ ec_master_clear_slaves(master);
+
+ if (!fsm->master_slaves_responding) {
+ // no slaves present -> finish state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // init slaves
+ for (i = 0; i < fsm->master_slaves_responding; i++) {
+ if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
+ GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate slave %i!\n", i);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (ec_slave_init(slave, master, i, i + 1)) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (kobject_add(&slave->kobj)) {
+ EC_ERR("Failed to add kobject.\n");
+ kobject_put(&slave->kobj); // free
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ 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_slave_start_reading;
+ fsm->master_state = ec_fsm_master_scan;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // fetch state from each slave
+ fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master action: Get state of next slave.
+*/
+
+void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
+ /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+
+ // have all states been read?
+ if (slave->list.next == &master->slaves) {
+
+ // check, if a bus validation has to be done
+ if (fsm->master_validation) {
+ fsm->master_validation = 0;
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->online) continue;
+
+ // 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
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+ return;
+ }
+ }
+
+ fsm->master_state = ec_fsm_master_proc_states;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ ec_command_nprd(&fsm->command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(master, &fsm->command);
+ fsm->master_state = ec_fsm_master_states;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: STATES.
+ Fetches the AL- and online state of a slave.
+*/
+
+void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+ uint8_t new_state;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // did the slave not respond to its station address?
+ if (command->working_counter != 1) {
+ if (slave->online) {
+ slave->online = 0;
+ EC_INFO("Slave %i: offline.\n", slave->ring_position);
+ }
+ ec_fsm_master_action_next_slave_state(fsm);
+ return;
+ }
+
+ // slave responded
+ new_state = EC_READ_U8(command->data);
+ if (!slave->online) { // slave was offline before
+ slave->online = 1;
+ slave->state_error = 0;
+ slave->current_state = new_state;
+ EC_INFO("Slave %i: online (", slave->ring_position);
+ ec_print_states(new_state);
+ printk(").\n");
+ }
+ else if (new_state != slave->current_state) {
+ EC_INFO("Slave %i: ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" -> ");
+ ec_print_states(new_state);
+ printk(".\n");
+ slave->current_state = new_state;
+ }
+
+ ec_fsm_master_action_next_slave_state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: PROC_STATES.
+ Processes the slave states.
+*/
+
+void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave;
+
+ // check if any slaves are not in the state, they're supposed to be
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->state_error || !slave->online ||
+ slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
+ slave->current_state == slave->requested_state) continue;
+
+ EC_INFO("Changing state of slave %i from ", slave->ring_position);
+ ec_print_states(slave->current_state);
+ printk(" to ");
+ ec_print_states(slave->requested_state);
+ printk(".\n");
+
+ fsm->slave = slave;
+ fsm->slave_state = ec_fsm_slave_conf;
+ fsm->change_new = EC_SLAVE_STATE_INIT;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->master_state = ec_fsm_master_conf;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // nothing to configure. restart master state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_VENDOR.
+ Validates the vendor ID of a slave.
+*/
+
+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 (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate vendor ID of slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != 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
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: VALIDATE_PRODUCT.
+ Validates the product ID of a slave.
+*/
+
+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 (fsm->sii_state == ec_fsm_sii_error) {
+ EC_ERR("Failed to validate product code of slave %i.\n",
+ slave->ring_position);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ if (fsm->sii_result != 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,
+ fsm->sii_result);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // have all states been validated?
+ if (slave->list.next == &fsm->master->slaves) {
+ fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
+ return;
+ }
+
+ // 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
+ fsm->sii_mode = 0;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->sii_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: RECONFIGURE.
+ Looks for slave, that have lost their configuration and writes
+ their station address, so that they can be reconfigured later.
+*/
+
+void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ while (fsm->slave->online) {
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+ // 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);
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->master_state = ec_fsm_master_address;
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: ADDRESS.
+ Checks, if the new station address has been written to the slave.
+*/
+
+void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to write station address on slave %i.\n",
+ slave->ring_position);
+ }
+
+ if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // check next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->master_state = ec_fsm_master_reconfigure;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: SCAN.
+ Executes the sub-statemachine for the scanning of a slave.
+*/
+
+void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_ident_t *ident;
+
+ fsm->slave_state(fsm); // execute slave state machine
+
+ if (fsm->slave_state != ec_fsm_slave_end) return;
+
+ // have all slaves been fetched?
+ if (slave->list.next == &master->slaves) {
+ EC_INFO("Bus scanning completed.\n");
+
+ // identify all slaves and calculate coupler addressing
+
+ coupler_index = 0;
+ reverse_coupler_index = 0xFFFF;
+ current_coupler_index = 0x3FFF;
+ coupler_subindex = 0;
+
+ list_for_each_entry(slave, &master->slaves, list)
+ {
+ // search for identification in "database"
+ ident = slave_idents;
+ while (ident->type) {
+ if (ident->vendor_id == slave->sii_vendor_id
+ && ident->product_code == slave->sii_product_code) {
+ slave->type = ident->type;
+ break;
+ }
+ ident++;
+ }
+
+ if (!slave->type) {
+ EC_WARN("FSM: Unknown slave device (vendor 0x%08X,"
+ " code 0x%08X) at position %i.\n",
+ slave->sii_vendor_id, slave->sii_product_code,
+ slave->ring_position);
+ }
+ else {
+ // if the slave is a bus coupler, change adressing base
+ if (slave->type->special == EC_TYPE_BUS_COUPLER) {
+ if (slave->sii_alias)
+ current_coupler_index = reverse_coupler_index--;
+ else
+ current_coupler_index = coupler_index++;
+ coupler_subindex = 0;
+ }
+ }
+
+ // determine initial state.
+ if ((slave->type && slave->type->special == EC_TYPE_BUS_COUPLER)) {
+ slave->requested_state = EC_SLAVE_STATE_OP;
+ }
+ else {
+ if (master->mode == EC_MASTER_MODE_RUNNING)
+ slave->requested_state = EC_SLAVE_STATE_PREOP;
+ else
+ slave->requested_state = EC_SLAVE_STATE_INIT;
+ }
+ slave->state_error = 0;
+
+ // calculate coupler-based slave address
+ slave->coupler_index = current_coupler_index;
+ slave->coupler_subindex = coupler_subindex;
+ coupler_subindex++;
+ }
+
+ if (master->mode == EC_MASTER_MODE_FREERUN) {
+ // start EoE processing
+ ec_master_eoe_start(master);
+ }
+
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // process next slave
+ fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start_reading;
+ fsm->slave_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Master state: CONF.
+ Starts configuring a slave.
+*/
+
+void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->slave_state(fsm); // execute slave's state machine
+ if (fsm->slave_state != ec_fsm_slave_end) return;
+ fsm->master_state = ec_fsm_master_proc_states;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/******************************************************************************
+ * slave state machine
+ *****************************************************************************/
+
+/**
+ Slave state: START_READING.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ // write station address
+ ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
+ EC_WRITE_U16(command->data, fsm->slave->station_address);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_status;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_STATUS.
+*/
+
+void ec_fsm_slave_read_status(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to write station address of slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // read AL status
+ ec_command_nprd(command, fsm->slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_BASE.
+*/
+
+void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read AL status of slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+ if (slave->current_state & EC_ACK) {
+ EC_WARN("Slave %i has status error bit set (0x%02X)!\n",
+ slave->ring_position, slave->current_state);
+ slave->current_state &= 0x0F;
+ }
+
+ // read base data
+ ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_read_dl;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_DL.
+*/
+
+void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read base data of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ slave->base_type = EC_READ_U8 (command->data);
+ slave->base_revision = EC_READ_U8 (command->data + 1);
+ slave->base_build = EC_READ_U16(command->data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
+ slave->base_sync_count = EC_READ_U8 (command->data + 5);
+
+ if (slave->base_fmmu_count > EC_MAX_FMMUS)
+ slave->base_fmmu_count = EC_MAX_FMMUS;
+
+ // read data link status
+ ec_command_nprd(command, slave->station_address, 0x0110, 2);
+ ec_master_queue_command(slave->master, command);
+ fsm->slave_state = ec_fsm_slave_prepare_sii;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: PREPARE_SII.
+*/
+
+void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint16_t dl_status;
+ unsigned int i;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM failed to read DL status of slave %i.\n",
+ slave->ring_position);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ dl_status = EC_READ_U16(command->data);
+
+ for (i = 0; i < 4; i++) {
+ slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ fsm->sii_offset = 0x0004;
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_sii_num = 0;
+ fsm->slave_state = ec_fsm_slave_read_sii;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: READ_SII.
+*/
+
+void ec_fsm_slave_read_sii(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read SII data at 0x%04X on slave %i.\n",
+ fsm->sii_offset, slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ switch (fsm->slave_sii_num) {
+ case 0:
+ slave->sii_alias = fsm->sii_result & 0xFFFF;
+ fsm->sii_offset = 0x0008;
+ break;
+ case 1:
+ slave->sii_vendor_id = fsm->sii_result;
+ fsm->sii_offset = 0x000A;
+ break;
+ case 2:
+ slave->sii_product_code = fsm->sii_result;
+ fsm->sii_offset = 0x000C;
+ break;
+ case 3:
+ slave->sii_revision_number = fsm->sii_result;
+ fsm->sii_offset = 0x000E;
+ break;
+ case 4:
+ slave->sii_serial_number = fsm->sii_result;
+ fsm->sii_offset = 0x0018;
+ break;
+ case 5:
+ slave->sii_rx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_rx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001A;
+ break;
+ case 6:
+ slave->sii_tx_mailbox_offset = fsm->sii_result & 0xFFFF;
+ slave->sii_tx_mailbox_size = fsm->sii_result >> 16;
+ fsm->sii_offset = 0x001C;
+ break;
+ case 7:
+ slave->sii_mailbox_protocols = fsm->sii_result & 0xFFFF;
+
+ fsm->slave_cat_offset = 0x0040;
+
+ if (fsm->slave_cat_data) {
+ EC_INFO("FSM freeing old category data on slave %i...\n",
+ fsm->slave->ring_position);
+ kfree(fsm->slave_cat_data);
+ }
+
+ if (!(fsm->slave_cat_data =
+ (uint8_t *) kmalloc(EC_CAT_MEM, GFP_ATOMIC))) {
+ EC_ERR("FSM Failed to allocate category data.\n");
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // start reading first category header
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ fsm->slave_sii_num++;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CATEGORY_HEADER.
+ Start reading categories.
+*/
+
+void ec_fsm_slave_category_header(ec_fsm_t *fsm /**< finite state machine */)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read category header at 0x%04X on slave %i.\n",
+ fsm->slave_cat_offset, fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ // last category?
+ if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ fsm->slave_cat_type = fsm->sii_result & 0x7FFF;
+ fsm->slave_cat_words = (fsm->sii_result >> 16) & 0xFFFF;
+
+ if (fsm->slave_cat_words > EC_CAT_MEM * 2) {
+ EC_ERR("FSM category memory too small! %i words needed.\n",
+ fsm->slave_cat_words);
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // start reading category data
+ fsm->slave_cat_data_offset = 0;
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CATEGORY_DATA.
+ Reads category data.
+*/
+
+void ec_fsm_slave_category_data(ec_fsm_t *fsm /**< finite state machine */)
+{
+ // execute SII state machine
+ fsm->sii_state(fsm);
+
+ if (fsm->sii_state == ec_fsm_sii_error) {
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+ EC_ERR("FSM failed to read category 0x%02X data at 0x%04X"
+ " on slave %i.\n", fsm->slave_cat_type, fsm->sii_offset,
+ fsm->slave->ring_position);
+ return;
+ }
+
+ if (fsm->sii_state != ec_fsm_sii_end) return;
+
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ fsm->sii_result & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 8) & 0xFF;
+
+ // read second word "on the fly"
+ if (fsm->slave_cat_data_offset + 1 < fsm->slave_cat_words) {
+ fsm->slave_cat_data_offset++;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
+ (fsm->sii_result >> 16) & 0xFF;
+ fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
+ (fsm->sii_result >> 24) & 0xFF;
+ }
+
+ fsm->slave_cat_data_offset++;
+
+ if (fsm->slave_cat_data_offset < fsm->slave_cat_words) {
+ fsm->sii_offset = (fsm->slave_cat_offset + 2 +
+ fsm->slave_cat_data_offset);
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_data;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+ }
+
+ // category data complete
+ switch (fsm->slave_cat_type)
+ {
+ case 0x000A:
+ if (ec_slave_fetch_strings(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x001E:
+ if (ec_slave_fetch_general(fsm->slave, fsm->slave_cat_data))
+ goto out_free;
+ break;
+ case 0x0028:
+ break;
+ case 0x0029:
+ if (ec_slave_fetch_sync(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words))
+ goto out_free;
+ break;
+ case 0x0032:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_TX_PDO))
+ goto out_free;
+ break;
+ case 0x0033:
+ if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
+ fsm->slave_cat_words,
+ EC_RX_PDO))
+ goto out_free;
+ break;
+ default:
+ EC_WARN("FSM: Unknown category type 0x%04X in slave %i.\n",
+ fsm->slave_cat_type, fsm->slave->ring_position);
+ }
+
+ // start reading next category header
+ fsm->slave_cat_offset += 2 + fsm->slave_cat_words;
+ fsm->sii_offset = fsm->slave_cat_offset;
+ fsm->sii_mode = 1;
+ fsm->sii_state = ec_fsm_sii_start_reading;
+ fsm->slave_state = ec_fsm_slave_category_header;
+ fsm->slave_state(fsm); // execute state immediately
+ return;
+
+ out_free:
+ kfree(fsm->slave_cat_data);
+ fsm->slave_cat_data = NULL;
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: CONF.
+*/
+
+void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in INIT
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // check for slave registration
+ if (!slave->type) {
+ EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
+ }
+
+ // check and reset CRC fault counters
+ //ec_slave_check_crc(slave);
+
+ if (!slave->base_fmmu_count) { // no fmmus
+ fsm->slave_state = ec_fsm_slave_sync;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // reset FMMUs
+ ec_command_npwr(command, slave->station_address, 0x0600,
+ EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_sync;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: SYNC.
+ Configure sync managers.
+*/
+
+void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ unsigned int j;
+ const ec_sync_t *sync;
+ ec_eeprom_sync_t *eeprom_sync, mbox_sync;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to reset FMMUs of slave %i.\n",
+ slave->ring_position);
+ slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (!slave->base_sync_count) { // no sync managers
+ fsm->slave_state = ec_fsm_slave_preop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure sync managers
+ ec_command_npwr(command, slave->station_address, 0x0800,
+ EC_SYNC_SIZE * slave->base_sync_count);
+ memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
+
+ // known slave type, take type's SM information
+ if (slave->type) {
+ for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
+ sync = slave->type->sync_managers[j];
+ ec_sync_config(sync, command->data + EC_SYNC_SIZE * j);
+ }
+ }
+
+ // unknown type, but slave has mailbox
+ else if (slave->sii_mailbox_protocols)
+ {
+ // does it supply sync manager configurations in its EEPROM?
+ if (!list_empty(&slave->eeprom_syncs)) {
+ list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
+ if (eeprom_sync->index >= slave->base_sync_count) {
+ EC_ERR("Invalid sync manager configuration found!");
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+ ec_eeprom_sync_config(eeprom_sync,
+ command->data + EC_SYNC_SIZE
+ * eeprom_sync->index);
+ }
+ }
+
+ // no sync manager information; guess mailbox settings
+ else {
+ mbox_sync.physical_start_address =
+ slave->sii_rx_mailbox_offset;
+ mbox_sync.length = slave->sii_rx_mailbox_size;
+ mbox_sync.control_register = 0x26;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync, command->data);
+
+ mbox_sync.physical_start_address =
+ slave->sii_tx_mailbox_offset;
+ mbox_sync.length = slave->sii_tx_mailbox_size;
+ mbox_sync.control_register = 0x22;
+ mbox_sync.enable = 1;
+ ec_eeprom_sync_config(&mbox_sync,
+ command->data + EC_SYNC_SIZE);
+ }
+
+ EC_INFO("Mailbox configured for unknown slave %i\n",
+ slave->ring_position);
+ }
+
+ ec_master_queue_command(fsm->master, command);
+ fsm->slave_state = ec_fsm_slave_preop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: PREOP.
+ Change slave state to PREOP.
+*/
+
+void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to set sync managers on slave %i.\n",
+ slave->ring_position);
+ slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ fsm->change_new = EC_SLAVE_STATE_PREOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->slave_state = ec_fsm_slave_fmmu;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: FMMU.
+ Configure FMMUs.
+*/
+
+void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = fsm->master;
+ ec_command_t *command = &fsm->command;
+ unsigned int j;
+
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in PREOP
+ if (slave->current_state == slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // stop activation here for slaves without type
+ if (!slave->type) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (!slave->base_fmmu_count) {
+ fsm->slave_state = ec_fsm_slave_saveop;
+ fsm->slave_state(fsm); // execute immediately
+ return;
+ }
+
+ // configure FMMUs
+ ec_command_npwr(command, slave->station_address,
+ 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+ memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+ for (j = 0; j < slave->fmmu_count; j++) {
+ ec_fmmu_config(&slave->fmmus[j], command->data + EC_FMMU_SIZE * j);
+ }
+
+ ec_master_queue_command(master, command);
+ fsm->slave_state = ec_fsm_slave_saveop;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: SAVEOP.
+ Set slave state to SAVEOP.
+*/
+
+void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (fsm->slave->base_fmmu_count && (command->state != EC_CMD_RECEIVED ||
+ command->working_counter != 1)) {
+ EC_ERR("FSM failed to set FMMUs on slave %i.\n",
+ fsm->slave->ring_position);
+ fsm->slave->state_error = 1;
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to SAVEOP
+ fsm->slave_state = ec_fsm_slave_op;
+ fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: OP.
+ Set slave state to OP.
+*/
+
+void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in SAVEOP
+ if (fsm->slave->current_state == fsm->slave->requested_state) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ // set state to OP
+ fsm->slave_state = ec_fsm_slave_op2;
+ fsm->change_new = EC_SLAVE_STATE_OP;
+ fsm->change_state = ec_fsm_change_start;
+ fsm->change_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: OP2
+ Executes the change state machine, until the OP state is set.
+*/
+
+void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ fsm->change_state(fsm); // execute state change state machine
+
+ if (fsm->change_state == ec_fsm_change_error) {
+ fsm->slave_state = ec_fsm_slave_end;
+ return;
+ }
+
+ if (fsm->change_state != ec_fsm_change_end) return;
+
+ // slave is now in OP
+ fsm->slave_state = ec_fsm_slave_end;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: END.
+ End state of the slave state machine.
+*/
+
+void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/******************************************************************************
+ * SII state machine
+ *****************************************************************************/
+
+/**
+ SII state: START_READING.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ // initiate read operation
+ if (fsm->sii_mode) {
+ ec_command_npwr(command, fsm->slave->station_address, 0x502, 4);
+ }
+ else {
+ ec_command_apwr(command, fsm->slave->ring_position, 0x502, 4);
+ }
+
+ EC_WRITE_U8 (command->data, 0x00); // read-only access
+ EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
+ EC_WRITE_U16(command->data + 2, fsm->sii_offset);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_check;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: CHECK.
+ Checks, if the SII-read-command has been sent and issues a fetch command.
+*/
+
+void ec_fsm_sii_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("SII: Reception of read command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ fsm->sii_start = get_cycles();
+
+ // issue check/fetch command
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: FETCH.
+ Fetches the result of an SII-read command.
+*/
+
+void ec_fsm_sii_fetch(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("SII: Reception of check/fetch command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ // check "busy bit"
+ if (EC_READ_U8(command->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_sii_error;
+#if 0
+ EC_DBG("SII busy: %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0),
+ EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2),
+ EC_READ_U8(command->data + 3));
+#endif
+ }
+
+ // issue check/fetch command again
+ if (fsm->sii_mode) {
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ }
+ else {
+ ec_command_aprd(command, fsm->slave->ring_position, 0x502, 10);
+ }
+ ec_master_queue_command(fsm->master, command);
+ return;
+ }
+
+#if 0
+ EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
+ EC_READ_U8(command->data + 0), EC_READ_U8(command->data + 1),
+ EC_READ_U8(command->data + 2), EC_READ_U8(command->data + 3),
+ EC_READ_U8(command->data + 6), EC_READ_U8(command->data + 7),
+ EC_READ_U8(command->data + 8), EC_READ_U8(command->data + 9));
+#endif
+
+ // SII value received.
+ fsm->sii_result = EC_READ_U32(command->data + 6);
+ fsm->sii_state = ec_fsm_sii_end;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: END.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: ERROR.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/******************************************************************************
+ * state change state machine
+ *****************************************************************************/
+
+/**
+ Change state: START.
+*/
+
+void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ // write new state to slave
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, fsm->change_new);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_check;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: CHECK.
+*/
+
+void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ EC_ERR("Failed to send state command to slave %i!\n",
+ fsm->slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if (command->working_counter != 1) {
+ EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
+ " respond.\n", fsm->change_new, fsm->slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ fsm->change_start = get_cycles();
+
+ // read AL status from slave
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_status;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: STATUS.
+*/
+
+void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Failed to check state 0x%02X on slave %i.\n",
+ fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ // state has been set successfully
+ fsm->change_state = ec_fsm_change_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_command_nprd(command, slave->station_address, 0x0134, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_code;
+ return;
+ }
+
+ if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
+ // timeout while checking
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_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_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: CODE.
+*/
+
+void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint32_t code;
+ const ec_code_msg_t *al_msg;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of AL status code command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if ((code = EC_READ_U16(command->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_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, slave->current_state);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+*/
+
+void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ // read new AL status
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack2;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+ Acknowledge 2.
+*/
+
+void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack check command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
+ slave->current_state, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
+ " - Timeout!\n", fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: END.
+*/
+
+void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ERROR.
+*/
+
+void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ 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"},
+ {0x0020, "Slave needs cold start"},
+ {0x0021, "Slave needs INIT"},
+ {0x0022, "Slave needs PREOP"},
+ {0x0023, "Slave needs SAVEOP"},
+ {}
+};
+
+/*****************************************************************************/