--- a/master/fsm.c Tue Feb 13 13:36:31 2007 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1704 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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"
-#include "mailbox.h"
-
-/*****************************************************************************/
-
-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_master_sdo_request(ec_fsm_t *);
-void ec_fsm_master_end(ec_fsm_t *);
-void ec_fsm_master_error(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_state_start(ec_fsm_t *);
-void ec_fsm_slaveconf_state_init(ec_fsm_t *);
-void ec_fsm_slaveconf_state_clear_fmmus(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_state_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sync2(ec_fsm_t *);
-void ec_fsm_slaveconf_state_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_state_sdoconf(ec_fsm_t *);
-void ec_fsm_slaveconf_state_saveop(ec_fsm_t *);
-void ec_fsm_slaveconf_state_op(ec_fsm_t *);
-
-void ec_fsm_slaveconf_enter_sync(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_preop(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_sync2(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_sdoconf(ec_fsm_t *);
-void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *);
-
-void ec_fsm_slave_state_end(ec_fsm_t *);
-void ec_fsm_slave_state_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;
-
- ec_datagram_init(&fsm->datagram);
- 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);
-}
-
-/*****************************************************************************/
-
-/**
- Executes the current state of the state machine.
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
-{
- fsm->master_state(fsm);
-
- return ec_fsm_running(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- \return false, if state machine has terminated
-*/
-
-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;
-}
-
-/*****************************************************************************/
-
-/**
- \return true, if the master state machine terminated gracefully
-*/
-
-int ec_fsm_success(ec_fsm_t *fsm /**< finite state machine */)
-{
- return fsm->master_state == ec_fsm_master_end;
-}
-
-/******************************************************************************
- * operation/idle state machine
- *****************************************************************************/
-
-/**
- Master state: START.
- Starts with getting slave count and slave states.
-*/
-
-void ec_fsm_master_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_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_datagram_t *datagram = &fsm->datagram;
- unsigned int topology_change, states_change, i;
- ec_slave_t *slave;
- ec_master_t *master = fsm->master;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
- if (!master->device->link_state) {
- fsm->master_slaves_responding = 0;
- list_for_each_entry(slave, &master->slaves, list) {
- slave->online = 0;
- }
- }
- else {
- 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);
- states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
-
- fsm->master_slave_states = EC_READ_U8(datagram->data);
- fsm->master_slaves_responding = datagram->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_OPERATION) {
- 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) {
- 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_master_eoe_stop(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_end;
- 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_destroy_slaves(master);
- fsm->master_state = ec_fsm_master_error;
- return;
- }
-
- if (ec_slave_init(slave, master, i, i + 1)) {
- // freeing of "slave" already done
- ec_master_destroy_slaves(master);
- fsm->master_state = ec_fsm_master_error;
- 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;
- fsm->master_state(fsm); // execute immediately
- return;
- }
-
- // fetch state from each slave
- fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
- ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(master, &fsm->datagram);
- fsm->master_state = ec_fsm_master_read_states;
-}
-
-/*****************************************************************************/
-
-/**
- Master action: PROC_STATES.
- Processes the slave states.
-*/
-
-void ec_fsm_master_action_process_states(ec_fsm_t *fsm
- /**< finite state machine */
- )
-{
- ec_master_t *master = fsm->master;
- ec_slave_t *slave;
- 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
- || !slave->online
- || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
- || (slave->current_state == slave->requested_state
- && slave->configured)) continue;
-
- if (master->debug_level) {
- ec_state_string(slave->current_state, old_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_state_start;
- fsm->slave_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) {
-
- // 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);
- slave->new_eeprom_data = NULL;
- EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
- slave->ring_position);
- 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;
- ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
- slave->new_eeprom_data, EC_FSM_SII_NODE);
- fsm->master_state = ec_fsm_master_write_eeprom;
- fsm->master_state(fsm); // execute immediately
- return;
- }
- }
-
- fsm->master_state = ec_fsm_master_end;
-}
-
-/*****************************************************************************/
-
-/**
- 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;
-
- // is there another slave to query?
- if (slave->list.next != &master->slaves) {
- // process next slave
- fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
- ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
- 0x0130, 2);
- ec_master_queue_datagram(master, &fsm->datagram);
- fsm->master_state = ec_fsm_master_read_states;
- return;
- }
-
- // all slave states read
-
- // 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;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
- return;
- }
- }
-
- ec_fsm_master_action_process_states(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- 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) {
- EC_ERR("Failed to receive AL state datagram for slave %i!\n",
- 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;
- 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
- slave->online = 1;
- slave->error_flag = 0; // clear error flag
- slave->current_state = new_state;
- if (slave->master->debug_level) {
- 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) {
- if (slave->master->debug_level) {
- char old_state[EC_STATE_STRING_SIZE],
- cur_state[EC_STATE_STRING_SIZE];
- ec_state_string(slave->current_state, old_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);
-}
-
-/*****************************************************************************/
-
-/**
- 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;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- 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_error;
- return;
- }
-
- if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
- EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
- fsm->master_state = ec_fsm_master_error;
- return;
- }
-
- // vendor ID is ok. check product code.
- fsm->master_state = ec_fsm_master_validate_product;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Master action: ADDRESS.
- Looks for slave, that have lost their configuration and writes
- their station address, so that they can be reconfigured later.
-*/
-
-void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- 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);
- }
-
- 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);
- fsm->master_state = ec_fsm_master_rewrite_addresses;
-}
-
-/*****************************************************************************/
-
-/**
- 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;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- 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_error;
- return;
- }
-
- if (EC_READ_U32(fsm->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->fsm_sii.value));
- fsm->master_state = ec_fsm_master_error;
- 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);
- // start writing addresses to offline slaves
- ec_fsm_master_action_addresses(fsm);
- return;
- }
-
- // validate next slave
- fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
- fsm->master_state = ec_fsm_master_validate_vendor;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Master state: REWRITE 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 */
- )
-{
- ec_slave_t *slave = fsm->slave;
- ec_datagram_t *datagram = &fsm->datagram;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->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);
- // Write new station address to slave
- ec_fsm_master_action_addresses(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- 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_slave_state_end
- && 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;
- fsm->slave_state(fsm); // execute immediately
- return;
- }
-
- EC_INFO("Bus scanning completed.\n");
-
- ec_master_calc_addressing(master);
-
- // set initial states of all slaves to PREOP to make mailbox
- // communication possible
- list_for_each_entry(slave, &master->slaves, list) {
- ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
- }
-
- fsm->master_state = ec_fsm_master_end;
-}
-
-/*****************************************************************************/
-
-/**
- Master state: CONFIGURE SLAVES.
- 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_slave_state_end
- && fsm->slave_state != ec_fsm_slave_state_error) return;
-
- ec_fsm_master_action_process_states(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- Master state: WRITE EEPROM.
-*/
-
-void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_slave_t *slave = fsm->slave;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- 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_error;
- return;
- }
-
- fsm->sii_offset++;
- if (fsm->sii_offset < slave->new_eeprom_size) {
- ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
- slave->new_eeprom_data + fsm->sii_offset,
- 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);
- kfree(slave->new_eeprom_data);
- slave->new_eeprom_data = NULL;
-
- // TODO: Evaluate new EEPROM contents!
-
- // restart master state machine.
- fsm->master_state = ec_fsm_master_start;
- fsm->master_state(fsm); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- 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 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 */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- // 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);
- fsm->slave_state = ec_fsm_slavescan_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_slave_state_error;
- EC_ERR("Failed to write station address of slave %i.\n",
- fsm->slave->ring_position);
- return;
- }
-
- // Read AL state
- ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->slave_state = ec_fsm_slavescan_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_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_SLAVE_STATE_ACK_ERR) {
- char state_str[EC_STATE_STRING_SIZE];
- ec_state_string(slave->current_state, state_str);
- 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);
- fsm->slave_state = ec_fsm_slavescan_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_slave_state_error;
- EC_ERR("Failed to read base data of slave %i.\n",
- slave->ring_position);
- return;
- }
-
- slave->base_type = EC_READ_U8 (datagram->data);
- slave->base_revision = EC_READ_U8 (datagram->data + 1);
- slave->base_build = EC_READ_U16(datagram->data + 2);
- slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
- slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
-
- if (slave->base_fmmu_count > EC_MAX_FMMUS)
- slave->base_fmmu_count = EC_MAX_FMMUS;
-
- // read data link status
- ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
- ec_master_queue_datagram(slave->master, datagram);
- fsm->slave_state = ec_fsm_slavescan_datalink;
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan state: DATALINK.
-*/
-
-void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
- ec_slave_t *slave = fsm->slave;
- uint16_t dl_status;
- unsigned int i;
-
- 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 read DL status of slave %i.\n",
- slave->ring_position);
- return;
- }
-
- dl_status = EC_READ_U16(datagram->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;
- }
-
- // Start fetching EEPROM size
-
- fsm->sii_offset = 0x0040; // first category header
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
- fsm->slave_state = ec_fsm_slavescan_eeprom_size;
- fsm->slave_state(fsm); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
- 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;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
- fsm->slave->error_flag = 1;
- fsm->slave_state = ec_fsm_slave_state_error;
- EC_ERR("Failed to read EEPROM size of slave %i.\n",
- slave->ring_position);
- return;
- }
-
- cat_type = EC_READ_U16(fsm->fsm_sii.value);
- cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
-
- if (cat_type != 0xFFFF) { // not the last category
- fsm->sii_offset += cat_size + 2;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- 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) {
- EC_INFO("Freeing old EEPROM data on slave %i...\n",
- slave->ring_position);
- kfree(slave->eeprom_data);
- }
-
- if (!(slave->eeprom_data =
- (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
- fsm->slave->error_flag = 1;
- 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;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave scan 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;
-
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
-
- if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
- fsm->slave->error_flag = 1;
- fsm->slave_state = ec_fsm_slave_state_error;
- EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
- slave->ring_position);
- 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->fsm_sii.value, 4);
- }
- else { // copy the last word
- 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;
- ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
- EC_FSM_SII_NODE);
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
- return;
- }
-
- // Evaluate EEPROM contents
-
- slave->sii_alias =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
- slave->sii_vendor_id =
- EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
- slave->sii_product_code =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
- slave->sii_revision_number =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
- slave->sii_serial_number =
- EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
- slave->sii_rx_mailbox_offset =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
- slave->sii_rx_mailbox_size =
- EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
- slave->sii_tx_mailbox_offset =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
- slave->sii_tx_mailbox_size =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
- slave->sii_mailbox_protocols =
- EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
-
- // evaluate category data
- cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
- while (EC_READ_U16(cat_word) != 0xFFFF) {
- cat_type = EC_READ_U16(cat_word) & 0x7FFF;
- cat_size = EC_READ_U16(cat_word + 1);
-
- switch (cat_type) {
- case 0x000A:
- if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
- goto end;
- break;
- case 0x001E:
- ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
- break;
- case 0x0028:
- break;
- case 0x0029:
- if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
- cat_size))
- goto end;
- break;
- case 0x0032:
- if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
- cat_size, EC_TX_PDO))
- goto end;
- break;
- case 0x0033:
- if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
- cat_size, EC_RX_PDO))
- goto end;
- break;
- default:
- if (fsm->master->debug_level)
- 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_slave_state_end;
- return;
-
-end:
- EC_ERR("Failed to analyze category data.\n");
- fsm->slave->error_flag = 1;
- fsm->slave_state = ec_fsm_slave_state_error;
-}
-
-/******************************************************************************
- * slave configuration state machine
- *****************************************************************************/
-
-/**
- Slave configuration state: START.
-*/
-
-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;
-
- 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->configured = 1;
-
- if (master->debug_level) {
- EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
- }
-
- // 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
- ec_fsm_slaveconf_enter_preop(fsm);
- 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);
-
- if (list_empty(&slave->sii_syncs)) {
- if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
- if (slave->master->debug_level)
- EC_DBG("Guessing sync manager settings for slave %i.\n",
- slave->ring_position);
- mbox_sync.index = 0;
- mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
- mbox_sync.length = slave->sii_tx_mailbox_size;
- 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_state_sync;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: SYNC.
-*/
-
-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_slave_state_error;
- EC_ERR("Failed to set sync managers on slave %i.\n",
- slave->ring_position);
- return;
- }
-
- ec_fsm_slaveconf_enter_preop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slaveconf_enter_preop(ec_fsm_t *fsm /**< finite state machine */)
-{
- fsm->slave_state = ec_fsm_slaveconf_state_preop;
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
- 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;
-
- if (!slave->base_fmmu_count) { // skip FMMU configuration
- ec_fsm_slaveconf_enter_sdoconf(fsm);
- return;
- }
-
- // configure FMMUs
- 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);
- for (j = 0; j < slave->fmmu_count; j++) {
- 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_state_fmmu;
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: FMMU.
-*/
-
-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_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
- ec_fsm_slaveconf_enter_saveop(fsm);
- return;
- }
-
- ec_fsm_slaveconf_enter_sdoconf(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-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
- ec_fsm_slaveconf_enter_saveop(fsm);
- return;
- }
-
- // start SDO configuration
- fsm->slave_state = ec_fsm_slaveconf_state_sdoconf;
- fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
- 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_slave_state_error;
- 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);
- ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
- ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
- return;
- }
-
- // All SDOs are now configured.
-
- // set state to SAVEOP
- ec_fsm_slaveconf_enter_saveop(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- */
-
-void ec_fsm_slaveconf_enter_saveop(ec_fsm_t *fsm /**< finite state machine */)
-{
- fsm->slave_state = ec_fsm_slaveconf_state_saveop;
- ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
- ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- 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_slave_state_error;
- 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_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_state_op;
- ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
- ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- Slave configuration state: OP
-*/
-
-void ec_fsm_slaveconf_state_op(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)) {
- slave->error_flag = 1;
- fsm->slave_state = ec_fsm_slave_state_error;
- return;
- }
-
- // slave is now in OP
-
- 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);
- }
-
- fsm->slave_state = ec_fsm_slave_state_end; // successful
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/**
- State: ERROR.
-*/
-
-void ec_fsm_slave_state_error(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
- State: END.
-*/
-
-void ec_fsm_slave_state_end(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/