/******************************************************************************
*
* $Id$
*
* 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 master state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#ifdef EC_EOE
#include "ethernet.h"
#endif
#include "fsm_master.h"
/*****************************************************************************/
void ec_fsm_master_state_start(ec_fsm_master_t *);
void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
void ec_fsm_master_state_read_state(ec_fsm_master_t *);
void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
void ec_fsm_master_state_end(ec_fsm_master_t *);
void ec_fsm_master_state_error(ec_fsm_master_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_master_init(
ec_fsm_master_t *fsm, /**< Master state machine. */
ec_master_t *master, /**< EtherCAT master. */
ec_datagram_t *datagram /**< Datagram object to use. */
)
{
fsm->master = master;
fsm->datagram = datagram;
fsm->state = ec_fsm_master_state_start;
fsm->idle = 0;
fsm->slaves_responding = 0;
fsm->topology_change_pending = 0;
fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
// init sub-state-machines
ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
&fsm->fsm_slave_config, &fsm->fsm_coe_map);
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);
ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_master_clear(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
// clear sub-state machines
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
ec_fsm_sii_clear(&fsm->fsm_sii);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*
* \return false, if state machine has terminated
*/
int ec_fsm_master_exec(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
if (fsm->datagram->state == EC_DATAGRAM_SENT
|| fsm->datagram->state == EC_DATAGRAM_QUEUED) {
// datagram was not sent or received yet.
return ec_fsm_master_running(fsm);
}
fsm->state(fsm);
return ec_fsm_master_running(fsm);
}
/*****************************************************************************/
/**
* \return false, if state machine has terminated
*/
int ec_fsm_master_running(
const ec_fsm_master_t *fsm /**< Master state machine. */
)
{
return fsm->state != ec_fsm_master_state_end
&& fsm->state != ec_fsm_master_state_error;
}
/*****************************************************************************/
/**
* \return true, if the state machine is in an idle phase
*/
int ec_fsm_master_idle(
const ec_fsm_master_t *fsm /**< Master state machine. */
)
{
return fsm->idle;
}
/******************************************************************************
* Master state machine
*****************************************************************************/
/** Master state: START.
*
* Starts with getting slave count and slave states.
*/
void ec_fsm_master_state_start(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
fsm->idle = 1;
ec_datagram_brd(fsm->datagram, 0x0130, 2);
fsm->state = ec_fsm_master_state_broadcast;
}
/*****************************************************************************/
/** Master state: BROADCAST.
*
* Processes the broadcast read slave count and slaves states.
*/
void ec_fsm_master_state_broadcast(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
unsigned int i;
ec_slave_t *slave;
ec_master_t *master = fsm->master;
if (datagram->state == EC_DATAGRAM_TIMED_OUT)
return; // always retry
// bus topology change?
if (datagram->working_counter != fsm->slaves_responding) {
fsm->topology_change_pending = 1;
fsm->slaves_responding = datagram->working_counter;
EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
}
if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
fsm->state = ec_fsm_master_state_error;
return;
}
// slave states changed?
if (EC_READ_U8(datagram->data) != fsm->slave_states) {
char states[EC_STATE_STRING_SIZE];
fsm->slave_states = EC_READ_U8(datagram->data);
ec_state_string(fsm->slave_states, states);
EC_INFO("Slave states: %s.\n", states);
}
if (fsm->topology_change_pending) {
down(&master->scan_sem);
if (!master->allow_scan) {
up(&master->scan_sem);
} else {
master->scan_busy = 1;
up(&master->scan_sem);
// topology change when scan is allowed:
// clear all slaves and scan the bus
fsm->topology_change_pending = 0;
fsm->idle = 0;
fsm->scan_jiffies = jiffies;
#ifdef EC_EOE
ec_master_eoe_stop(master);
ec_master_clear_eoe_handlers(master);
#endif
ec_master_destroy_slaves(master);
master->configs_attached = 0;
master->slave_count = datagram->working_counter;
if (!master->slave_count) {
// no slaves present -> finish state machine.
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
fsm->state = ec_fsm_master_state_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);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
if (ec_slave_init(slave, master, i, i + 1)) {
// freeing of "slave" already done
ec_master_destroy_slaves(master);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
// do not force reconfiguration in operation mode to avoid
// unnecesssary process data interruptions
if (master->mode != EC_MASTER_MODE_OPERATION)
slave->force_config = 1;
list_add_tail(&slave->list, &master->slaves);
}
// broadcast clear all station addresses
ec_datagram_bwr(datagram, 0x0010, 2);
EC_WRITE_U16(datagram->data, 0x0000);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_clear_addresses;
return;
}
}
if (list_empty(&master->slaves)) {
fsm->state = ec_fsm_master_state_end;
} else {
// fetch state from first slave
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
}
}
/*****************************************************************************/
/** Check for pending SII write requests and process one.
*
* \return non-zero, if an SII write request is processed.
*/
int ec_fsm_master_action_process_sii(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request;
// search the first request to be processed
while (1) {
down(&master->sii_sem);
if (list_empty(&master->sii_requests)) {
up(&master->sii_sem);
break;
}
// get first request
request = list_entry(master->sii_requests.next,
ec_sii_write_request_t, list);
list_del_init(&request->list); // dequeue
request->state = EC_REQUEST_BUSY;
up(&master->sii_sem);
// found pending SII write operation. execute it!
if (master->debug_level)
EC_DBG("Writing SII data to slave %u...\n",
request->slave->ring_position);
fsm->sii_request = request;
fsm->sii_index = 0;
ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
request->data, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fsm->state = ec_fsm_master_state_write_sii;
fsm->state(fsm); // execute immediately
return 1;
}
return 0;
}
/*****************************************************************************/
/** Check for pending Sdo requests and process one.
*
* \return non-zero, if an Sdo request is processed.
*/
int ec_fsm_master_action_process_sdo(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_master_sdo_request_t *request;
ec_sdo_request_t *req;
ec_slave_t *slave;
// search for internal requests to be processed
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->config)
continue;
list_for_each_entry(req, &slave->config->sdo_requests, list) {
if (req->state == EC_REQUEST_QUEUED) {
if (ec_sdo_request_timed_out(req)) {
req->state = EC_REQUEST_FAILURE;
if (master->debug_level)
EC_DBG("Sdo request for slave %u timed out...\n",
slave->ring_position);
continue;
}
if (slave->current_state == EC_SLAVE_STATE_INIT ||
slave->error_flag) {
req->state = EC_REQUEST_FAILURE;
continue;
}
req->state = EC_REQUEST_BUSY;
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %u...\n",
slave->ring_position);
fsm->idle = 0;
fsm->sdo_request = req;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_request;
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return 1;
}
}
}
// search the first external request to be processed
while (1) {
down(&master->sdo_sem);
if (list_empty(&master->slave_sdo_requests)) {
up(&master->sdo_sem);
break;
}
// get first request
request = list_entry(master->slave_sdo_requests.next,
ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
request->req.state = EC_REQUEST_BUSY;
up(&master->sdo_sem);
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT ||
slave->error_flag) {
EC_ERR("Discarding Sdo request, slave %u not ready.\n",
slave->ring_position);
request->req.state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
continue;
}
// Found pending Sdo request. Execute it!
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %u...\n",
slave->ring_position);
// Start uploading Sdo
fsm->idle = 0;
fsm->sdo_request = &request->req;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_request;
ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return 1;
}
return 0;
}
/*****************************************************************************/
/** Master action: IDLE.
*
* Does secondary work.
*/
void ec_fsm_master_action_idle(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave;
// Check for pending Sdo requests
if (ec_fsm_master_action_process_sdo(fsm))
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->error_flag) continue;
if (master->debug_level) {
EC_DBG("Fetching Sdo dictionary from slave %u.\n",
slave->ring_position);
}
slave->sdo_dictionary_fetched = 1;
// start fetching Sdo dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_dictionary;
ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
return;
}
// check for pending SII write operations.
if (ec_fsm_master_action_process_sii(fsm))
return; // SII write request found
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/** Master action: Get state of next slave.
*/
void ec_fsm_master_action_next_slave_state(
ec_fsm_master_t *fsm /**< Master 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) {
// fetch state from next slave
fsm->idle = 1;
fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
return;
}
// all slaves processed
ec_fsm_master_action_idle(fsm);
}
/*****************************************************************************/
/** Master action: Configure.
*/
void ec_fsm_master_action_configure(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
// Does the slave have to be configured?
if (!slave->error_flag
&& (slave->current_state != slave->requested_state
|| slave->force_config)) {
// Start slave configuration, if it is allowed.
down(&master->config_sem);
if (!master->allow_config) {
up(&master->config_sem);
} else {
master->config_busy = 1;
up(&master->config_sem);
if (master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
new_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(slave->requested_state, new_state);
EC_DBG("Changing state of slave %u from %s to %s%s.\n",
slave->ring_position, old_state, new_state,
slave->force_config ? " (forced)" : "");
}
// configuration will be done immediately; therefore reset the
// force flag
slave->force_config = 0;
fsm->idle = 0;
fsm->state = ec_fsm_master_state_configure_slave;
ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fsm->state(fsm); // execute immediately
return;
}
}
// slave has error flag set; process next one
ec_fsm_master_action_next_slave_state(fsm);
}
/*****************************************************************************/
/** Master action: Acknowledge.
*/
void ec_fsm_master_action_acknowledge(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
if (!slave->error_flag) {
// Check, if new slave state has to be acknowledged
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fsm->idle = 0;
fsm->state = ec_fsm_master_state_acknowledge;
ec_fsm_change_ack(&fsm->fsm_change, slave);
fsm->state(fsm); // execute immediately
return;
}
// No acknowlegde necessary; check for configuration
ec_fsm_master_action_configure(fsm);
return;
}
// slave has error flag set; process next one
ec_fsm_master_action_next_slave_state(fsm);
}
/*****************************************************************************/
/** Master state: READ STATE.
*
* Fetches the AL state of a slave.
*/
void ec_fsm_master_state_read_state(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_ERR("Failed to receive AL state datagram for slave %u"
" (datagram state %i)\n",
slave->ring_position, datagram->state);
fsm->state = ec_fsm_master_state_error;
return;
}
// did the slave not respond to its station address?
if (datagram->working_counter != 1) {
if (!slave->error_flag) {
slave->error_flag = 1;
if (fsm->master->debug_level)
EC_DBG("Slave %u did not respond to state query.\n",
fsm->slave->ring_position);
}
fsm->topology_change_pending = 1;
fsm->state = ec_fsm_master_state_error;
return;
}
// A single slave responded
ec_slave_set_state(slave, EC_READ_U8(datagram->data));
ec_fsm_master_action_acknowledge(fsm);
}
/*****************************************************************************/
/** Master state: ACKNOWLEDGE.
*/
void ec_fsm_master_state_acknowledge(
ec_fsm_master_t *fsm /**< Master 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 %u.\n",
slave->ring_position);
}
ec_fsm_master_action_configure(fsm);
}
/*****************************************************************************/
/** Master state: CLEAR ADDRESSES.
*/
void ec_fsm_master_state_clear_addresses(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
EC_ERR("Failed to receive address clearing datagram (state %i).\n",
datagram->state);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
if (datagram->working_counter != master->slave_count) {
EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
datagram->working_counter, master->slave_count);
}
EC_INFO("Scanning bus.\n");
// begin scanning of slaves
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->state = ec_fsm_master_state_scan_slave;
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
}
/*****************************************************************************/
/** Master state: SCAN SLAVE.
*
* Executes the sub-statemachine for the scanning of a slave.
*/
void ec_fsm_master_state_scan_slave(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
return;
#ifdef EC_EOE
if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
// create EoE handler for this slave
ec_eoe_t *eoe;
if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
slave->ring_position);
} else if (ec_eoe_init(eoe, slave)) {
EC_ERR("Failed to init EoE handler for slave %u!\n",
slave->ring_position);
kfree(eoe);
} else {
list_add_tail(&eoe->list, &master->eoe_handlers);
}
}
#endif
// another slave to fetch?
if (slave->list.next != &master->slaves) {
fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
return;
}
EC_INFO("Bus scanning completed in %u ms.\n",
(u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
// Attach slave configurations
ec_master_attach_slave_configs(master);
#ifdef EC_EOE
// check if EoE processing has to be started
ec_master_eoe_start(master);
#endif
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/** Master state: CONFIGURE SLAVE.
*
* Starts configuring a slave.
*/
void ec_fsm_master_state_configure_slave(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
return;
// configuration finished
master->config_busy = 0;
wake_up_interruptible(&master->config_queue);
if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
// TODO: mark slave_config as failed.
}
fsm->idle = 1;
ec_fsm_master_action_next_slave_state(fsm);
}
/*****************************************************************************/
/** Master state: WRITE SII.
*/
void ec_fsm_master_state_write_sii(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
ec_master_t *master = fsm->master;
ec_sii_write_request_t *request = fsm->sii_request;
ec_slave_t *slave = request->slave;
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
slave->error_flag = 1;
EC_ERR("Failed to write SII data to slave %i.\n",
slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sii_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
fsm->sii_index++;
if (fsm->sii_index < request->word_size) {
ec_fsm_sii_write(&fsm->fsm_sii, slave,
request->word_offset + fsm->sii_index,
request->data + fsm->sii_index * 2,
EC_FSM_SII_USE_CONFIGURED_ADDRESS);
ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
return;
}
// finished writing SII
if (master->debug_level)
EC_DBG("Finished writing %u words of SII data to slave %u.\n",
request->word_size, slave->ring_position);
request->state = EC_REQUEST_SUCCESS;
wake_up(&master->sii_queue);
// TODO: Evaluate new SII contents!
// check for another SII write request
if (ec_fsm_master_action_process_sii(fsm))
return; // processing another request
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/** Master state: SDO DICTIONARY.
*/
void ec_fsm_master_state_sdo_dictionary(
ec_fsm_master_t *fsm /**< Master 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->state = ec_fsm_master_state_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 %u Sdos and %u entries from slave %u.\n",
sdo_count, entry_count, slave->ring_position);
}
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/** Master state: SDO REQUEST.
*/
void ec_fsm_master_state_sdo_request(
ec_fsm_master_t *fsm /**< Master 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)) {
EC_DBG("Failed to process Sdo request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
fsm->state = ec_fsm_master_state_error;
return;
}
// Sdo request finished
request->state = EC_REQUEST_SUCCESS;
wake_up(&master->sdo_queue);
if (master->debug_level)
EC_DBG("Finished Sdo request for slave %u.\n",
fsm->slave->ring_position);
// check for another Sdo request
if (ec_fsm_master_action_process_sdo(fsm))
return; // processing another request
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/** State: ERROR.
*/
void ec_fsm_master_state_error(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
fsm->state = ec_fsm_master_state_start;
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_master_state_end(
ec_fsm_master_t *fsm /**< Master state machine. */
)
{
fsm->state = ec_fsm_master_state_start;
}
/*****************************************************************************/