--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.c Tue May 16 11:57:06 2006 +0000
@@ -0,0 +1,787 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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; version 2 of the License.
+ *
+ * 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
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "fsm.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+#define EC_CAT_MEM 0x100
+
+/*****************************************************************************/
+
+void ec_fsm_master_start(ec_fsm_t *);
+void ec_fsm_master_wait(ec_fsm_t *);
+void ec_fsm_master_slave(ec_fsm_t *);
+void ec_fsm_master_calc(ec_fsm_t *);
+void ec_fsm_master_finished(ec_fsm_t *);
+
+void ec_fsm_slave_start(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_categories(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_finished(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_finished(ec_fsm_t *);
+void ec_fsm_sii_error(ec_fsm_t *);
+
+/*****************************************************************************/
+
+int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *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->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;
+}
+
+/*****************************************************************************/
+
+void ec_fsm_clear(ec_fsm_t *fsm)
+{
+ if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
+ ec_command_clear(&fsm->command);
+}
+
+/*****************************************************************************/
+
+void ec_fsm_reset(ec_fsm_t *fsm)
+{
+ 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;
+ }
+}
+
+/*****************************************************************************/
+
+void ec_fsm_execute(ec_fsm_t *fsm)
+{
+ fsm->master_state(fsm);
+}
+
+/*****************************************************************************/
+
+int ec_fsm_idle(const ec_fsm_t *fsm)
+{
+ return (fsm->master_state == ec_fsm_master_start ||
+ fsm->master_state == ec_fsm_master_wait ||
+ fsm->master_state == ec_fsm_master_finished);
+}
+
+/******************************************************************************
+ * master state machine
+ *****************************************************************************/
+
+/**
+ 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_wait;
+}
+
+/*****************************************************************************/
+
+void ec_fsm_master_wait(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+ unsigned int first, topology_change, i;
+ ec_slave_t *slave;
+
+ if (command->state != EC_CMD_RECEIVED) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (command->working_counter == fsm->master_slaves_responding &&
+ command->data[0] == fsm->master_slave_states) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ topology_change = command->working_counter !=
+ fsm->master_slaves_responding;
+
+ fsm->master_slaves_responding = command->working_counter;
+ fsm->master_slave_states = command->data[0];
+
+ EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,
+ fsm->master_slaves_responding == 1 ? "" : "s");
+
+ first = 1;
+ if (fsm->master_slave_states & EC_SLAVE_STATE_INIT) {
+ printk("INIT");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_PREOP) {
+ if (!first) printk(", ");
+ printk("PREOP");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_SAVEOP) {
+ if (!first) printk(", ");
+ printk("SAVEOP");
+ first = 0;
+ }
+ if (fsm->master_slave_states & EC_SLAVE_STATE_OP) {
+ if (!first) printk(", ");
+ printk("OP");
+ }
+ printk(")\n");
+
+ if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ // topology change!
+ ec_master_clear_slaves(fsm->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("FSM failed to allocate slave %i!\n", i);
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ if (ec_slave_init(slave, fsm->master, i, i + 1)) {
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ if (kobject_add(&slave->kobj)) {
+ EC_ERR("FSM failed to add kobject.\n");
+ kobject_put(&slave->kobj); // free
+ fsm->master_state = ec_fsm_master_finished;
+ return;
+ }
+
+ list_add_tail(&slave->list, &fsm->master->slaves);
+ }
+
+ // begin scanning of slaves
+ fsm->slave = list_entry(fsm->master->slaves.next,
+ ec_slave_t, list);
+ fsm->slave_state = ec_fsm_slave_start;
+
+ fsm->master_state = ec_fsm_master_slave;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ State: Get Slave.
+ Executes the sub-statemachine of a slave.
+*/
+
+void ec_fsm_master_slave(ec_fsm_t *fsm)
+{
+ ec_master_t *master = fsm->master;
+
+ fsm->slave_state(fsm); // execute slave state machine
+
+ if (fsm->slave_state != ec_fsm_slave_finished) return;
+
+ // have all slaves been fetched?
+ if (fsm->slave->list.next == &master->slaves) {
+ fsm->master_state = ec_fsm_master_calc;
+ 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;
+ fsm->slave_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Free-Run state: Calc.
+*/
+
+void ec_fsm_master_calc(ec_fsm_t *fsm)
+{
+ uint16_t coupler_index, coupler_subindex;
+ uint16_t reverse_coupler_index, current_coupler_index;
+ ec_slave_t *slave;
+ ec_slave_ident_t *ident;
+ ec_master_t *master = fsm->master;
+
+ coupler_index = 0;
+ reverse_coupler_index = 0xFFFF;
+ current_coupler_index = 0x3FFF;
+ coupler_subindex = 0;
+
+ // for every slave on the bus
+ list_for_each_entry(slave, &master->slaves, list)
+ {
+ // search for identification in "database"
+ ident = slave_idents;
+ while (ident->type) {
+ if (unlikely(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 (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;
+ }
+
+ slave->coupler_index = current_coupler_index;
+ slave->coupler_subindex = coupler_subindex;
+ coupler_subindex++;
+ }
+
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ Free-Run state: Finished.
+ End state of the state machine. Does nothing.
+*/
+
+void ec_fsm_master_finished(ec_fsm_t *fsm)
+{
+}
+
+/******************************************************************************
+ * slave state machine
+ *****************************************************************************/
+
+/**
+ Slave state: Start.
+ First state of the slave state machine. Writes the station address to the
+ slave, according to its ring position.
+*/
+
+void ec_fsm_slave_start(ec_fsm_t *fsm)
+{
+ 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_base;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read base.
+*/
+
+void ec_fsm_slave_read_base(ec_fsm_t *fsm)
+{
+ 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_finished;
+ return;
+ }
+
+ // 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)
+{
+ 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_finished;
+ 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)
+{
+ 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_finished;
+ 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_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)
+{
+ 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_finished;
+ 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_finished) 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_state = ec_fsm_slave_categories;
+ 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: Categories.
+*/
+
+void ec_fsm_slave_categories(ec_fsm_t *fsm)
+{
+ 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_finished;
+ 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
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Read categories.
+ Start reading categories.
+*/
+
+void ec_fsm_slave_category_header(ec_fsm_t *fsm)
+{
+ // 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_finished;
+ 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_finished) 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_finished;
+ 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_finished;
+ 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_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)
+{
+ // 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_finished;
+ 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_finished) 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_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_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_finished;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave state: Finished.
+ End state of the slave state machine.
+*/
+
+void ec_fsm_slave_finished(ec_fsm_t *fsm)
+{
+}
+
+/******************************************************************************
+ * SII state machine
+ *****************************************************************************/
+
+/**
+ Slave SII state: Start reading.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_start_reading(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ // initiate read operation
+ ec_command_npwr(command, fsm->slave->station_address, 0x502, 6);
+ EC_WRITE_U8 (command->data, 0x00); // read-only access
+ EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
+ EC_WRITE_U32(command->data + 2, fsm->sii_offset);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_check;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave 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)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM SII: Reception of check command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
+ ec_master_queue_command(fsm->master, command);
+ fsm->sii_state = ec_fsm_sii_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Fetch.
+ Fetches the result of an SII-read command.
+*/
+
+void ec_fsm_sii_fetch(ec_fsm_t *fsm)
+{
+ ec_command_t *command = &fsm->command;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("FSM SII: Reception of fetch command failed.\n");
+ fsm->sii_state = ec_fsm_sii_error;
+ return;
+ }
+
+ // check "busy bit"
+ if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
+ fsm->sii_result = EC_READ_U32(command->data + 6);
+ fsm->sii_state = ec_fsm_sii_finished;
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Finished.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_finished(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Slave SII state: Error.
+ End state of the slave SII state machine.
+*/
+
+void ec_fsm_sii_error(ec_fsm_t *fsm)
+{
+}
+
+/*****************************************************************************/