fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@238:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@238:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@238:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@238:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@238:  *  GNU General Public License for more details.
fp@238:  *
fp@238:  *  You should have received a copy of the GNU General Public License
fp@238:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@238:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@238:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    \file
fp@238:    EtherCAT finite state machines.
fp@238: */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #include "globals.h"
fp@238: #include "fsm.h"
fp@238: #include "master.h"
fp@329: #include "mailbox.h"
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *);
fp@260: void ec_fsm_master_broadcast(ec_fsm_t *);
fp@304: void ec_fsm_master_read_states(ec_fsm_t *);
fp@260: void ec_fsm_master_validate_vendor(ec_fsm_t *);
fp@260: void ec_fsm_master_validate_product(ec_fsm_t *);
fp@304: void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
fp@304: void ec_fsm_master_configure_slave(ec_fsm_t *);
fp@304: void ec_fsm_master_scan_slaves(ec_fsm_t *);
fp@304: void ec_fsm_master_write_eeprom(ec_fsm_t *);
fp@419: void ec_fsm_master_sdodict(ec_fsm_t *);
fp@430: void ec_fsm_master_sdo_request(ec_fsm_t *);
fp@251: 
fp@325: void ec_fsm_startup_start(ec_fsm_t *);
fp@325: void ec_fsm_startup_broadcast(ec_fsm_t *);
fp@325: void ec_fsm_startup_scan(ec_fsm_t *);
fp@325: 
fp@325: void ec_fsm_configuration_start(ec_fsm_t *);
fp@325: void ec_fsm_configuration_conf(ec_fsm_t *);
fp@325: 
fp@308: void ec_fsm_slavescan_start(ec_fsm_t *);
fp@310: void ec_fsm_slavescan_address(ec_fsm_t *);
fp@308: void ec_fsm_slavescan_state(ec_fsm_t *);
fp@308: void ec_fsm_slavescan_base(ec_fsm_t *);
fp@308: void ec_fsm_slavescan_datalink(ec_fsm_t *);
fp@308: void ec_fsm_slavescan_eeprom_size(ec_fsm_t *);
fp@308: void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
fp@308: 
fp@309: void ec_fsm_slaveconf_init(ec_fsm_t *);
fp@308: void ec_fsm_slaveconf_sync(ec_fsm_t *);
fp@308: void ec_fsm_slaveconf_preop(ec_fsm_t *);
fp@419: void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
fp@409: void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
fp@308: void ec_fsm_slaveconf_saveop(ec_fsm_t *);
fp@308: void ec_fsm_slaveconf_op(ec_fsm_t *);
fp@238: 
fp@409: void ec_fsm_coe_dict_start(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_request(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_check(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_response(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_desc_request(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_desc_check(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_desc_response(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_entry_request(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_entry_check(ec_fsm_t *);
fp@409: void ec_fsm_coe_dict_entry_response(ec_fsm_t *);
fp@409: 
fp@329: void ec_fsm_coe_down_start(ec_fsm_t *);
fp@329: void ec_fsm_coe_down_request(ec_fsm_t *);
fp@329: void ec_fsm_coe_down_check(ec_fsm_t *);
fp@339: void ec_fsm_coe_down_response(ec_fsm_t *);
fp@329: 
fp@430: void ec_fsm_coe_up_start(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_request(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_check(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_response(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_seg_request(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_seg_check(ec_fsm_t *);
fp@430: void ec_fsm_coe_up_seg_response(ec_fsm_t *);
fp@430: 
fp@325: void ec_fsm_end(ec_fsm_t *);
fp@325: void ec_fsm_error(ec_fsm_t *);
fp@251: 
fp@329: void ec_canopen_abort_msg(uint32_t);
fp@329: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Constructor.
fp@260: */
fp@260: 
fp@260: int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
fp@260:                 ec_master_t *master /**< EtherCAT master */
fp@325:                 )
fp@238: {
fp@238:     fsm->master = master;
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@260:     fsm->master_validation = 0;
fp@238: 
fp@293:     ec_datagram_init(&fsm->datagram);
fp@293:     if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
fp@293:         EC_ERR("Failed to allocate FSM datagram.\n");
fp@238:         return -1;
fp@238:     }
fp@238: 
fp@433:     ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
fp@434:     ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram);
fp@433: 
fp@238:     return 0;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Destructor.
fp@260: */
fp@260: 
fp@260: void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@433:     ec_fsm_sii_clear(&fsm->fsm_sii);
fp@434:     ec_fsm_change_clear(&fsm->fsm_change);
fp@433: 
fp@293:     ec_datagram_clear(&fsm->datagram);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Resets the state machine.
fp@260: */
fp@260: 
fp@260: void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Executes the current state of the state machine.
fp@260: */
fp@260: 
fp@260: void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     fsm->master_state(fsm);
fp@238: }
fp@238: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Initializes the master startup state machine.
fp@343: */
fp@343: 
fp@325: void ec_fsm_startup(ec_fsm_t *fsm)
fp@325: {
fp@325:     fsm->master_state = ec_fsm_startup_start;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Returns the running state of the master startup state machine.
fp@343:    \return non-zero if not terminated yet.
fp@343: */
fp@343: 
fp@343: int ec_fsm_startup_running(ec_fsm_t *fsm /**< Finite state machine */)
fp@325: {
fp@325:     return fsm->master_state != ec_fsm_end &&
fp@325:         fsm->master_state != ec_fsm_error;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Returns, if the master startup state machine terminated with success.
fp@343:    \return non-zero if successful.
fp@343: */
fp@343: 
fp@343: int ec_fsm_startup_success(ec_fsm_t *fsm /**< Finite state machine */)
fp@325: {
fp@325:     return fsm->master_state == ec_fsm_end;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Initializes the master configuration state machine.
fp@343: */
fp@343: 
fp@325: void ec_fsm_configuration(ec_fsm_t *fsm)
fp@325: {
fp@325:     fsm->master_state = ec_fsm_configuration_start;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Returns the running state of the master configuration state machine.
fp@343:    \return non-zero if not terminated yet.
fp@343: */
fp@343: 
fp@343: int ec_fsm_configuration_running(ec_fsm_t *fsm /**< Finite state machine */)
fp@325: {
fp@325:     return fsm->master_state != ec_fsm_end &&
fp@325:         fsm->master_state != ec_fsm_error;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Returns, if the master confuguration state machine terminated with success.
fp@343:    \return non-zero if successful.
fp@343: */
fp@343: 
fp@343: int ec_fsm_configuration_success(ec_fsm_t *fsm /**< Finite state machine */)
fp@325: {
fp@325:     return fsm->master_state == ec_fsm_end;
fp@325: }
fp@325: 
fp@238: /******************************************************************************
fp@325:  *  master startup state machine
fp@325:  *****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    Master state: START.
fp@325:    Starts with getting slave count and slave states.
fp@325: */
fp@325: 
fp@325: void ec_fsm_startup_start(ec_fsm_t *fsm)
fp@325: {
fp@325:     ec_datagram_brd(&fsm->datagram, 0x0130, 2);
fp@325:     ec_master_queue_datagram(fsm->master, &fsm->datagram);
fp@325:     fsm->master_state = ec_fsm_startup_broadcast;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    Master state: BROADCAST.
fp@325:    Processes the broadcast read slave count and slaves states.
fp@325: */
fp@325: 
fp@325: void ec_fsm_startup_broadcast(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325:     ec_datagram_t *datagram = &fsm->datagram;
fp@325:     unsigned int i;
fp@325:     ec_slave_t *slave;
fp@325:     ec_master_t *master = fsm->master;
fp@325: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@397:         EC_ERR("Failed to receive broadcast datagram.\n");
fp@325:         fsm->master_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     EC_INFO("Scanning bus.\n");
fp@325: 
fp@325:     ec_master_clear_slaves(master);
fp@325: 
fp@325:     master->slave_count = datagram->working_counter;
fp@325: 
fp@325:     if (!master->slave_count) {
fp@325:         // no slaves present -> finish state machine.
fp@325:         fsm->master_state = ec_fsm_end;
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     // init slaves
fp@325:     for (i = 0; i < master->slave_count; i++) {
fp@325:         if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@325:                                              GFP_KERNEL))) {
fp@325:             EC_ERR("Failed to allocate slave %i!\n", i);
fp@325:             fsm->master_state = ec_fsm_error;
fp@325:             return;
fp@325:         }
fp@325: 
fp@325:         if (ec_slave_init(slave, master, i, i + 1)) {
fp@325:             fsm->master_state = ec_fsm_error;
fp@325:             return;
fp@325:         }
fp@325: 
fp@325:         if (kobject_add(&slave->kobj)) {
fp@325:             EC_ERR("Failed to add kobject.\n");
fp@325:             kobject_put(&slave->kobj); // free
fp@325:             fsm->master_state = ec_fsm_error;
fp@325:             return;
fp@325:         }
fp@325: 
fp@325:         list_add_tail(&slave->list, &master->slaves);
fp@325:     }
fp@325: 
fp@325:     // begin scanning of slaves
fp@325:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@325:     fsm->slave_state = ec_fsm_slavescan_start;
fp@325:     fsm->master_state = ec_fsm_startup_scan;
fp@325:     fsm->master_state(fsm); // execute immediately
fp@325:     return;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    Master state: SCAN.
fp@325:    Executes the sub-statemachine for the scanning of a slave.
fp@325: */
fp@325: 
fp@325: void ec_fsm_startup_scan(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325:     ec_master_t *master = fsm->master;
fp@325:     ec_slave_t *slave = fsm->slave;
fp@325: 
fp@325:     fsm->slave_state(fsm); // execute slave state machine
fp@325: 
fp@325:     if (fsm->slave_state == ec_fsm_error) {
fp@325:         EC_ERR("Slave scanning failed.\n");
fp@325:         fsm->master_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     if (fsm->slave_state != ec_fsm_end) return;
fp@325: 
fp@325:     // another slave to scan?
fp@325:     if (slave->list.next != &master->slaves) {
fp@325:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@325:         fsm->slave_state = ec_fsm_slavescan_start;
fp@325:         fsm->slave_state(fsm); // execute immediately
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     EC_INFO("Bus scanning completed.\n");
fp@325: 
fp@325:     ec_master_calc_addressing(master);
fp@325: 
fp@325:     fsm->master_state = ec_fsm_end;
fp@325: }
fp@325: 
fp@325: /******************************************************************************
fp@325:  *  master configuration state machine
fp@325:  *****************************************************************************/
fp@325: 
fp@343: /**
fp@343:    Master configuration state machine: START.
fp@343: */
fp@343: 
fp@325: void ec_fsm_configuration_start(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325:     ec_master_t *master = fsm->master;
fp@325: 
fp@325:     if (list_empty(&master->slaves)) {
fp@325:         fsm->master_state = ec_fsm_end;
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     // begin configuring slaves
fp@325:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@325:     fsm->slave_state = ec_fsm_slaveconf_init;
fp@434:     ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@325:     fsm->master_state = ec_fsm_configuration_conf;
fp@325:     fsm->master_state(fsm); // execute immediately
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    Master state: CONF.
fp@325: */
fp@325: 
fp@325: void ec_fsm_configuration_conf(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325:     ec_master_t *master = fsm->master;
fp@325:     ec_slave_t *slave = fsm->slave;
fp@325: 
fp@325:     fsm->slave_state(fsm); // execute slave's state machine
fp@325: 
fp@325:     if (fsm->slave_state == ec_fsm_error) {
fp@325:         fsm->master_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     if (fsm->slave_state != ec_fsm_end) return;
fp@325: 
fp@325:     // another slave to configure?
fp@325:     if (slave->list.next != &master->slaves) {
fp@325:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@325:         fsm->slave_state = ec_fsm_slaveconf_init;
fp@434:         ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@325:         fsm->master_state(fsm); // execute immediately
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     fsm->master_state = ec_fsm_end;
fp@325: }
fp@325: 
fp@325: /******************************************************************************
fp@325:  *  operation / idle state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Master state: START.
fp@238:    Starts with getting slave count and slave states.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *fsm)
fp@238: {
fp@293:     ec_datagram_brd(&fsm->datagram, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, &fsm->datagram);
fp@260:     fsm->master_state = ec_fsm_master_broadcast;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: BROADCAST.
fp@260:    Processes the broadcast read slave count and slaves states.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260:     unsigned int topology_change, states_change, i;
fp@238:     ec_slave_t *slave;
fp@260:     ec_master_t *master = fsm->master;
fp@238: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@260:         if (!master->device->link_state) {
fp@254:             fsm->master_slaves_responding = 0;
fp@260:             list_for_each_entry(slave, &master->slaves, list) {
fp@260:                 slave->online = 0;
fp@260:             }
fp@260:         }
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     topology_change = (datagram->working_counter !=
fp@260:                        fsm->master_slaves_responding);
fp@293:     states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
fp@293: 
fp@293:     fsm->master_slave_states = EC_READ_U8(datagram->data);
fp@293:     fsm->master_slaves_responding = datagram->working_counter;
fp@260: 
fp@260:     if (topology_change) {
fp@262:         EC_INFO("%i slave%s responding.\n",
fp@262:                 fsm->master_slaves_responding,
fp@262:                 fsm->master_slaves_responding == 1 ? "" : "s");
fp@262: 
fp@325:         if (master->mode == EC_MASTER_MODE_OPERATION) {
fp@262:             if (fsm->master_slaves_responding == master->slave_count) {
fp@262:                 fsm->master_validation = 1; // start validation later
fp@262:             }
fp@262:             else {
fp@262:                 EC_WARN("Invalid slave count. Bus in tainted state.\n");
fp@262:             }
fp@260:         }
fp@260:     }
fp@260: 
fp@260:     if (states_change) {
fp@403:         char states[EC_STATE_STRING_SIZE];
fp@325:         ec_state_string(fsm->master_slave_states, states);
fp@325:         EC_INFO("Slave states: %s.\n", states);
fp@260:     }
fp@260: 
fp@306:     // topology change in idle mode: clear all slaves and scan the bus
fp@306:     if (topology_change && master->mode == EC_MASTER_MODE_IDLE) {
fp@260:         EC_INFO("Scanning bus.\n");
fp@260: 
fp@260:         ec_master_eoe_stop(master);
fp@260:         ec_master_clear_slaves(master);
fp@260: 
fp@325:         master->slave_count = datagram->working_counter;
fp@325: 
fp@325:         if (!master->slave_count) {
fp@260:             // no slaves present -> finish state machine.
fp@260:             fsm->master_state = ec_fsm_master_start;
fp@251:             fsm->master_state(fsm); // execute immediately
fp@251:             return;
fp@251:         }
fp@251: 
fp@260:         // init slaves
fp@325:         for (i = 0; i < master->slave_count; i++) {
fp@260:             if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@260:                                                  GFP_ATOMIC))) {
fp@260:                 EC_ERR("Failed to allocate slave %i!\n", i);
fp@325:                 ec_master_clear_slaves(master);
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             if (ec_slave_init(slave, master, i, i + 1)) {
fp@325:                 // freeing of "slave" already done
fp@325:                 ec_master_clear_slaves(master);
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             if (kobject_add(&slave->kobj)) {
fp@260:                 EC_ERR("Failed to add kobject.\n");
fp@260:                 kobject_put(&slave->kobj); // free
fp@325:                 ec_master_clear_slaves(master);
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             list_add_tail(&slave->list, &master->slaves);
fp@260:         }
fp@260: 
fp@260:         // begin scanning of slaves
fp@260:         fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@308:         fsm->slave_state = ec_fsm_slavescan_start;
fp@304:         fsm->master_state = ec_fsm_master_scan_slaves;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // fetch state from each slave
fp@260:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@293:     ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(master, &fsm->datagram);
fp@304:     fsm->master_state = ec_fsm_master_read_states;
fp@304: }
fp@304: 
fp@304: /*****************************************************************************/
fp@304: 
fp@304: /**
fp@304:    Master action: PROC_STATES.
fp@304:    Processes the slave states.
fp@304: */
fp@304: 
fp@304: void ec_fsm_master_action_process_states(ec_fsm_t *fsm
fp@304:                                          /**< finite state machine */
fp@304:                                          )
fp@304: {
fp@304:     ec_master_t *master = fsm->master;
fp@304:     ec_slave_t *slave;
fp@403:     char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
fp@430:     ec_sdo_request_t *request, *next_request;
fp@304: 
fp@304:     // check if any slaves are not in the state, they're supposed to be
fp@304:     list_for_each_entry(slave, &master->slaves, list) {
fp@421:         if (slave->error_flag
fp@421:             || !slave->online
fp@421:             || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
fp@421:             || (slave->current_state == slave->requested_state
fp@421:                 && (slave->configured
fp@421:                     || slave->current_state == EC_SLAVE_STATE_INIT))) continue;
fp@421: 
fp@421:         if (!slave->configured
fp@421:             && slave->current_state != EC_SLAVE_STATE_INIT) {
fp@422:             ec_state_string(slave->current_state, old_state);
fp@422:             EC_INFO("Reconfiguring slave %i (%s).\n",
fp@422:                     slave->ring_position, old_state);
fp@421:         }
fp@421: 
fp@421:         if (slave->current_state != slave->requested_state) {
fp@421:             ec_state_string(slave->current_state, old_state);
fp@421:             ec_state_string(slave->requested_state, new_state);
fp@421:             EC_INFO("Changing state of slave %i from %s to %s.\n",
fp@421:                     slave->ring_position, old_state, new_state);
fp@421:         }
fp@304: 
fp@304:         fsm->slave = slave;
fp@309:         fsm->slave_state = ec_fsm_slaveconf_init;
fp@434:         ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@304:         fsm->master_state = ec_fsm_master_configure_slave;
fp@304:         fsm->master_state(fsm); // execute immediately
fp@304:         return;
fp@304:     }
fp@304: 
fp@325:     // Check, if EoE processing has to be started
fp@325:     ec_master_eoe_start(master);
fp@325: 
fp@430:     // check, if there are pending SDO requests
fp@430:     list_for_each_entry_safe(request, next_request,
fp@430:                              &master->sdo_requests, queue) {
fp@430:         // TODO: critical section!
fp@430:         list_del_init(&request->queue);
fp@430: 
fp@430:         slave = request->sdo->slave;
fp@430: 
fp@430:         if (slave->current_state == EC_SLAVE_STATE_INIT
fp@430:             || !slave->online
fp@430:             || slave->error_flag) {
fp@430:             request->return_code = -1;
fp@430:             wake_up_interruptible(&master->sdo_wait_queue);
fp@430:             continue;
fp@430:         }
fp@430: 
fp@430:         // start uploading SDO
fp@430:         fsm->slave = slave;
fp@430:         fsm->master_state = ec_fsm_master_sdo_request;
fp@430:         fsm->coe_request = request;
fp@430:         fsm->coe_state = ec_fsm_coe_up_start;
fp@430:         fsm->coe_state(fsm); // execute immediately
fp@430:         return;
fp@430:     }
fp@430: 
fp@419:     // check, if slaves have an SDO dictionary to read out.
fp@419:     list_for_each_entry(slave, &master->slaves, list) {
fp@419:         if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
fp@419:             || slave->sdo_dictionary_fetched
fp@419:             || slave->current_state == EC_SLAVE_STATE_INIT
fp@427:             || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
fp@419:             || !slave->online
fp@419:             || slave->error_flag) continue;
fp@419: 
fp@419:         if (master->debug_level) {
fp@423:             EC_DBG("Fetching SDO dictionary from slave %i.\n",
fp@419:                    slave->ring_position);
fp@419:         }
fp@419: 
fp@419:         if (kobject_add(&slave->sdo_kobj)) {
fp@419:             EC_ERR("Failed to add SDO kobj of slave %i.\n",
fp@419:                    slave->ring_position);
fp@419:             slave->error_flag = 1;
fp@419:             fsm->master_state = ec_fsm_master_start;
fp@419:             fsm->master_state(fsm); // execute immediately
fp@419:             return;
fp@419:         }
fp@419: 
fp@419:         slave->sdo_dictionary_fetched = 1;
fp@419: 
fp@419:         // start fetching SDO dictionary
fp@419:         fsm->slave = slave;
fp@419:         fsm->master_state = ec_fsm_master_sdodict;
fp@419:         fsm->coe_state = ec_fsm_coe_dict_start;
fp@419:         fsm->coe_state(fsm); // execute immediately
fp@419:         return;
fp@419:     }
fp@419: 
fp@306:     if (master->mode == EC_MASTER_MODE_IDLE) {
fp@304:         // nothing to configure. check for pending EEPROM write operations.
fp@304:         list_for_each_entry(slave, &master->slaves, list) {
fp@304:             if (!slave->new_eeprom_data) continue;
fp@304: 
fp@304:             if (!slave->online || slave->error_flag) {
fp@304:                 kfree(slave->new_eeprom_data);
fp@304:                 slave->new_eeprom_data = NULL;
fp@304:                 EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
fp@304:                        slave->ring_position);
fp@304:                 continue;
fp@304:             }
fp@304: 
fp@304:             // found pending EEPROM write operation. execute it!
fp@304:             EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fp@304:             fsm->sii_offset = 0x0000;
fp@433:             ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@433:                              slave->new_eeprom_data, EC_FSM_SII_NODE);
fp@304:             fsm->master_state = ec_fsm_master_write_eeprom;
fp@304:             fsm->master_state(fsm); // execute immediately
fp@304:             return;
fp@304:         }
fp@304:     }
fp@304: 
fp@304:     // nothing to do. restart master state machine.
fp@304:     fsm->master_state = ec_fsm_master_start;
fp@304:     fsm->master_state(fsm); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master action: Get state of next slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
fp@260:                                            /**< finite state machine */)
fp@260: {
fp@260:     ec_master_t *master = fsm->master;
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@304:     // is there another slave to query?
fp@292:     if (slave->list.next != &master->slaves) {
fp@292:         // process next slave
fp@292:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@293:         ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
fp@293:                          0x0130, 2);
fp@293:         ec_master_queue_datagram(master, &fsm->datagram);
fp@304:         fsm->master_state = ec_fsm_master_read_states;
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // all slave states read
fp@304: 
fp@304:     // check, if a bus validation has to be done
fp@292:     if (fsm->master_validation) {
fp@292:         fsm->master_validation = 0;
fp@292:         list_for_each_entry(slave, &master->slaves, list) {
fp@292:             if (slave->online) continue;
fp@292: 
fp@292:             // At least one slave is offline. validate!
fp@292:             EC_INFO("Validating bus.\n");
fp@292:             fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@292:             fsm->master_state = ec_fsm_master_validate_vendor;
fp@433:             ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
fp@433:             ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@292:             return;
fp@251:         }
fp@292:     }
fp@292: 
fp@304:     ec_fsm_master_action_process_states(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@409:    Master state: READ STATES.
fp@260:    Fetches the AL- and online state of a slave.
fp@260: */
fp@260: 
fp@304: void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260:     uint8_t new_state;
fp@260: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // did the slave not respond to its station address?
fp@293:     if (datagram->working_counter != 1) {
fp@260:         if (slave->online) {
fp@260:             slave->online = 0;
fp@260:             EC_INFO("Slave %i: offline.\n", slave->ring_position);
fp@260:         }
fp@260:         ec_fsm_master_action_next_slave_state(fsm);
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // slave responded
fp@293:     new_state = EC_READ_U8(datagram->data);
fp@260:     if (!slave->online) { // slave was offline before
fp@403:         char cur_state[EC_STATE_STRING_SIZE];
fp@260:         slave->online = 1;
fp@291:         slave->error_flag = 0; // clear error flag
fp@260:         slave->current_state = new_state;
fp@325:         ec_state_string(slave->current_state, cur_state);
fp@325:         EC_INFO("Slave %i: online (%s).\n", slave->ring_position, cur_state);
fp@260:     }
fp@260:     else if (new_state != slave->current_state) {
fp@403:         char old_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
fp@325:         ec_state_string(slave->current_state, old_state);
fp@325:         ec_state_string(new_state, cur_state);
fp@325:         EC_INFO("Slave %i: %s -> %s.\n",
fp@325:                 slave->ring_position, old_state, cur_state);
fp@260:         slave->current_state = new_state;
fp@260:     }
fp@260: 
fp@260:     ec_fsm_master_action_next_slave_state(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: VALIDATE_VENDOR.
fp@260:    Validates the vendor ID of a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
fp@433: 
fp@433:     if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@292:         fsm->slave->error_flag = 1;
fp@260:         EC_ERR("Failed to validate vendor ID of slave %i.\n",
fp@260:                slave->ring_position);
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@433:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
fp@260:         EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // vendor ID is ok. check product code.
fp@260:     fsm->master_state = ec_fsm_master_validate_product;
fp@433:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@304:    Master action: ADDRESS.
fp@260:    Looks for slave, that have lost their configuration and writes
fp@260:    their station address, so that they can be reconfigured later.
fp@260: */
fp@260: 
fp@304: void ec_fsm_master_action_addresses(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260: 
fp@260:     while (fsm->slave->online) {
fp@260:         if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@251:             fsm->master_state = ec_fsm_master_start;
fp@260:             fsm->master_state(fsm); // execute immediately
fp@238:             return;
fp@238:         }
fp@260:         // check next slave
fp@260:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@260:     }
fp@260: 
fp@260:     EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
fp@260: 
fp@260:     // write station address
fp@293:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@304:     fsm->master_state = ec_fsm_master_rewrite_addresses;
fp@304: }
fp@304: 
fp@304: /*****************************************************************************/
fp@304: 
fp@304: /**
fp@304:    Master state: VALIDATE_PRODUCT.
fp@304:    Validates the product ID of a slave.
fp@304: */
fp@304: 
fp@304: void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
fp@304: {
fp@304:     ec_slave_t *slave = fsm->slave;
fp@304: 
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
fp@433: 
fp@433:     if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@304:         fsm->slave->error_flag = 1;
fp@304:         EC_ERR("Failed to validate product code of slave %i.\n",
fp@304:                slave->ring_position);
fp@304:         fsm->master_state = ec_fsm_master_start;
fp@304:         fsm->master_state(fsm); // execute immediately
fp@304:         return;
fp@304:     }
fp@304: 
fp@433:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
fp@304:         EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
fp@304:         EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
fp@433:                EC_READ_U32(fsm->fsm_sii.value));
fp@304:         fsm->master_state = ec_fsm_master_start;
fp@304:         fsm->master_state(fsm); // execute immediately
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // have all states been validated?
fp@304:     if (slave->list.next == &fsm->master->slaves) {
fp@304:         fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
fp@304:         // start writing addresses to offline slaves
fp@304:         ec_fsm_master_action_addresses(fsm);
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // validate next slave
fp@304:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@304:     fsm->master_state = ec_fsm_master_validate_vendor;
fp@433:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@409:    Master state: REWRITE ADDRESS.
fp@260:    Checks, if the new station address has been written to the slave.
fp@260: */
fp@260: 
fp@304: void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
fp@304:                                      /**< finite state machine */
fp@304:                                      )
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@260:         EC_ERR("Failed to write station address on slave %i.\n",
fp@260:                slave->ring_position);
fp@260:     }
fp@260: 
fp@260:     if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@260:         fsm->master_state = ec_fsm_master_start;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // check next slave
fp@260:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@304:     // Write new station address to slave
fp@304:     ec_fsm_master_action_addresses(fsm);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Master state: SCAN SLAVES.
fp@260:    Executes the sub-statemachine for the scanning of a slave.
fp@260: */
fp@260: 
fp@304: void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@251:     ec_slave_t *slave = fsm->slave;
fp@325: 
fp@238:     fsm->slave_state(fsm); // execute slave state machine
fp@238: 
fp@325:     if (fsm->slave_state != ec_fsm_end
fp@325:         && fsm->slave_state != ec_fsm_error) return;
fp@325: 
fp@325:     // another slave to fetch?
fp@325:     if (slave->list.next != &master->slaves) {
fp@325:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@325:         fsm->slave_state = ec_fsm_slavescan_start;
fp@325:         fsm->slave_state(fsm); // execute immediately
fp@325:         return;
fp@325:     }
fp@325: 
fp@325:     EC_INFO("Bus scanning completed.\n");
fp@325: 
fp@325:     ec_master_calc_addressing(master);
fp@325: 
fp@428:     // set initial states of all slaves to PREOP to make mailbox
fp@428:     // communication possible
fp@325:     list_for_each_entry(slave, &master->slaves, list) {
fp@428:         slave->requested_state = EC_SLAVE_STATE_PREOP;
fp@325:     }
fp@325: 
fp@325:     fsm->master_state = ec_fsm_master_start;
fp@325:     fsm->master_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Master state: CONFIGURE SLAVES.
fp@260:    Starts configuring a slave.
fp@260: */
fp@260: 
fp@304: void ec_fsm_master_configure_slave(ec_fsm_t *fsm
fp@304:                                    /**< finite state machine */
fp@304:                                    )
fp@260: {
fp@251:     fsm->slave_state(fsm); // execute slave's state machine
fp@325: 
fp@325:     if (fsm->slave_state != ec_fsm_end
fp@325:         && fsm->slave_state != ec_fsm_error) return;
fp@304: 
fp@304:     ec_fsm_master_action_process_states(fsm);
fp@238: }
fp@238: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@409:    Master state: WRITE EEPROM.
fp@269: */
fp@269: 
fp@304: void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fp@269: {
fp@269:     ec_slave_t *slave = fsm->slave;
fp@269: 
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
fp@433: 
fp@433:     if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@292:         fsm->slave->error_flag = 1;
fp@269:         EC_ERR("Failed to write EEPROM contents to slave %i.\n",
fp@269:                slave->ring_position);
fp@269:         kfree(slave->new_eeprom_data);
fp@269:         slave->new_eeprom_data = NULL;
fp@269:         fsm->master_state = ec_fsm_master_start;
fp@269:         fsm->master_state(fsm); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@269:     fsm->sii_offset++;
fp@269:     if (fsm->sii_offset < slave->new_eeprom_size) {
fp@433:         ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@433:                          slave->new_eeprom_data + fsm->sii_offset,
fp@433:                          EC_FSM_SII_NODE);
fp@433:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@269:     // finished writing EEPROM
fp@269:     EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
fp@269:     kfree(slave->new_eeprom_data);
fp@269:     slave->new_eeprom_data = NULL;
fp@269: 
fp@325:     // TODO: Evaluate new EEPROM contents!
fp@325: 
fp@269:     // restart master state machine.
fp@325:     fsm->master_state = ec_fsm_master_start;
fp@269:     fsm->master_state(fsm); // execute immediately
fp@419: }
fp@419: 
fp@419: /*****************************************************************************/
fp@419: 
fp@419: /**
fp@419:    Master state: SDODICT.
fp@419: */
fp@419: 
fp@419: void ec_fsm_master_sdodict(ec_fsm_t *fsm /**< finite state machine */)
fp@419: {
fp@419:     ec_slave_t *slave = fsm->slave;
fp@419:     ec_master_t *master = fsm->master;
fp@419: 
fp@419:     fsm->coe_state(fsm); // execute CoE state machine
fp@419: 
fp@419:     if (fsm->coe_state == ec_fsm_error) {
fp@426:         fsm->master_state = ec_fsm_master_start;
fp@426:         fsm->master_state(fsm); // execute immediately
fp@419:         return;
fp@419:     }
fp@419: 
fp@419:     if (fsm->coe_state != ec_fsm_end) return;
fp@419: 
fp@419:     // SDO dictionary fetching finished
fp@419: 
fp@419:     if (master->debug_level) {
fp@423:         unsigned int sdo_count, entry_count;
fp@423:         ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
fp@423:         EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
fp@423:                sdo_count, entry_count, slave->ring_position);
fp@419:     }
fp@419: 
fp@419:     // restart master state machine.
fp@419:     fsm->master_state = ec_fsm_master_start;
fp@419:     fsm->master_state(fsm); // execute immediately
fp@269: }
fp@269: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    Master state: SDO REQUEST.
fp@430: */
fp@430: 
fp@430: void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_master_t *master = fsm->master;
fp@430:     ec_sdo_request_t *request = fsm->coe_request;
fp@430: 
fp@430:     fsm->coe_state(fsm); // execute CoE state machine
fp@430: 
fp@430:     if (fsm->coe_state == ec_fsm_error) {
fp@430:         request->return_code = -1;
fp@430:         wake_up_interruptible(&master->sdo_wait_queue);
fp@430:         fsm->master_state = ec_fsm_master_start;
fp@430:         fsm->master_state(fsm); // execute immediately
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (fsm->coe_state != ec_fsm_end) return;
fp@430: 
fp@430:     // SDO dictionary fetching finished
fp@430: 
fp@430:     request->return_code = 1;
fp@430:     wake_up_interruptible(&master->sdo_wait_queue);
fp@430: 
fp@430:     // restart master state machine.
fp@430:     fsm->master_state = ec_fsm_master_start;
fp@430:     fsm->master_state(fsm); // execute immediately
fp@430: }
fp@430: 
fp@238: /******************************************************************************
fp@325:  *  slave scan state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Slave scan state: START.
fp@238:    First state of the slave state machine. Writes the station address to the
fp@238:    slave, according to its ring position.
fp@238: */
fp@238: 
fp@308: void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@238: 
fp@238:     // write station address
fp@293:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@310:     fsm->slave_state = ec_fsm_slavescan_address;
fp@310: }
fp@310: 
fp@310: /*****************************************************************************/
fp@310: 
fp@310: /**
fp@409:    Slave scan state: ADDRESS.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@292:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@292:         EC_ERR("Failed to write station address of slave %i.\n",
fp@238:                fsm->slave->ring_position);
fp@292:         return;
fp@292:     }
fp@292: 
fp@292:     // Read AL state
fp@293:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@310:     fsm->slave_state = ec_fsm_slavescan_state;
fp@310: }
fp@310: 
fp@310: /*****************************************************************************/
fp@310: 
fp@310: /**
fp@409:    Slave scan state: STATE.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
fp@255: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@292:         EC_ERR("Failed to read AL state of slave %i.\n",
fp@255:                fsm->slave->ring_position);
fp@255:         return;
fp@255:     }
fp@255: 
fp@293:     slave->current_state = EC_READ_U8(datagram->data);
fp@402:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@292:         EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
fp@255:                 slave->ring_position, slave->current_state);
fp@255:     }
fp@255: 
fp@238:     // read base data
fp@293:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@310:     fsm->slave_state = ec_fsm_slavescan_base;
fp@310: }
fp@310: 
fp@310: /*****************************************************************************/
fp@310: 
fp@310: /**
fp@409:    Slave scan state: BASE.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@292:         EC_ERR("Failed to read base data of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     slave->base_type       = EC_READ_U8 (datagram->data);
fp@293:     slave->base_revision   = EC_READ_U8 (datagram->data + 1);
fp@293:     slave->base_build      = EC_READ_U16(datagram->data + 2);
fp@293:     slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
fp@293:     slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
fp@238: 
fp@238:     if (slave->base_fmmu_count > EC_MAX_FMMUS)
fp@238:         slave->base_fmmu_count = EC_MAX_FMMUS;
fp@238: 
fp@238:     // read data link status
fp@293:     ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
fp@293:     ec_master_queue_datagram(slave->master, datagram);
fp@310:     fsm->slave_state = ec_fsm_slavescan_datalink;
fp@310: }
fp@310: 
fp@310: /*****************************************************************************/
fp@310: 
fp@310: /**
fp@409:    Slave scan state: DATALINK.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@238:     ec_slave_t *slave = fsm->slave;
fp@238:     uint16_t dl_status;
fp@238:     unsigned int i;
fp@238: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@292:         EC_ERR("Failed to read DL status of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     dl_status = EC_READ_U16(datagram->data);
fp@238:     for (i = 0; i < 4; i++) {
fp@238:         slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
fp@238:         slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
fp@238:         slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
fp@238:     }
fp@238: 
fp@266:     // Start fetching EEPROM size
fp@266: 
fp@266:     fsm->sii_offset = 0x0040; // first category header
fp@433:     ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
fp@310:     fsm->slave_state = ec_fsm_slavescan_eeprom_size;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Slave scan state: EEPROM SIZE.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
fp@266: {
fp@266:     ec_slave_t *slave = fsm->slave;
fp@266:     uint16_t cat_type, cat_size;
fp@238: 
fp@238:     // execute SII state machine
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii);
fp@433: 
fp@433:     if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@292:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@266:         EC_ERR("Failed to read EEPROM size of slave %i.\n",
fp@266:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@433:     cat_type = EC_READ_U16(fsm->fsm_sii.value);
fp@433:     cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
fp@266: 
fp@266:     if (cat_type != 0xFFFF) { // not the last category
fp@266:         fsm->sii_offset += cat_size + 2;
fp@433:         ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@433:                         EC_FSM_SII_NODE);
fp@433:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     slave->eeprom_size = (fsm->sii_offset + 1) * 2;
fp@266: 
fp@266:     if (slave->eeprom_data) {
fp@266:         EC_INFO("Freeing old EEPROM data on slave %i...\n",
fp@266:                 slave->ring_position);
fp@266:         kfree(slave->eeprom_data);
fp@266:     }
fp@266: 
fp@266:     if (!(slave->eeprom_data =
fp@266:           (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
fp@291:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@266:         EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
fp@266:                slave->ring_position);
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     // Start fetching EEPROM contents
fp@266: 
fp@433:     fsm->slave_state = ec_fsm_slavescan_eeprom_data;
fp@266:     fsm->sii_offset = 0x0000;
fp@433:     ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Slave scan state: EEPROM DATA.
fp@310: */
fp@310: 
fp@310: void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
fp@266: {
fp@266:     ec_slave_t *slave = fsm->slave;
fp@266:     uint16_t *cat_word, cat_type, cat_size;
fp@266: 
fp@238:     // execute SII state machine
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii);
fp@433: 
fp@433:     if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@292:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@266:         EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
fp@266:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@266:     // 2 words fetched
fp@266: 
fp@266:     if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
fp@433:         memcpy(slave->eeprom_data + fsm->sii_offset * 2,
fp@433:                fsm->fsm_sii.value, 4);
fp@266:     }
fp@266:     else { // copy the last word
fp@433:         memcpy(slave->eeprom_data + fsm->sii_offset * 2,
fp@433:                fsm->fsm_sii.value, 2);
fp@266:     }
fp@266: 
fp@266:     if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
fp@266:         // fetch the next 2 words
fp@266:         fsm->sii_offset += 2;
fp@433:         ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@433:                         EC_FSM_SII_NODE);
fp@433:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     // Evaluate EEPROM contents
fp@266: 
fp@266:     slave->sii_alias =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
fp@266:     slave->sii_vendor_id =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
fp@266:     slave->sii_product_code =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
fp@266:     slave->sii_revision_number =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
fp@266:     slave->sii_serial_number =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
fp@266:     slave->sii_rx_mailbox_offset =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
fp@266:     slave->sii_rx_mailbox_size =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
fp@266:     slave->sii_tx_mailbox_offset =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
fp@266:     slave->sii_tx_mailbox_size =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
fp@266:     slave->sii_mailbox_protocols =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
fp@266: 
fp@266:     // evaluate category data
fp@266:     cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
fp@266:     while (EC_READ_U16(cat_word) != 0xFFFF) {
fp@266:         cat_type = EC_READ_U16(cat_word) & 0x7FFF;
fp@266:         cat_size = EC_READ_U16(cat_word + 1);
fp@266: 
fp@266:         switch (cat_type) {
fp@266:             case 0x000A:
fp@266:                 if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x001E:
fp@325:                 ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2));
fp@266:                 break;
fp@266:             case 0x0028:
fp@266:                 break;
fp@266:             case 0x0029:
fp@266:                 if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
fp@266:                                         cat_size))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x0032:
fp@266:                 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
fp@266:                                        cat_size, EC_TX_PDO))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x0033:
fp@266:                 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
fp@266:                                        cat_size, EC_RX_PDO))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             default:
fp@266:                 EC_WARN("Unknown category type 0x%04X in slave %i.\n",
fp@266:                         cat_type, slave->ring_position);
fp@266:         }
fp@266: 
fp@266:         cat_word += cat_size + 2;
fp@266:     }
fp@266: 
fp@325:     fsm->slave_state = ec_fsm_end;
fp@325:     return;
fp@310: 
fp@292: end:
fp@325:     EC_ERR("Failed to analyze category data.\n");
fp@291:     fsm->slave->error_flag = 1;
fp@325:     fsm->slave_state = ec_fsm_error;
fp@308: }
fp@308: 
fp@308: /******************************************************************************
fp@325:  *  slave configuration state machine
fp@308:  *****************************************************************************/
fp@251: 
fp@251: /**
fp@409:    Slave configuration state: INIT.
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
fp@309: {
fp@409:     ec_master_t *master = fsm->master;
fp@309:     ec_slave_t *slave = fsm->slave;
fp@309:     ec_datagram_t *datagram = &fsm->datagram;
fp@325:     const ec_sii_sync_t *sync;
fp@420:     ec_sii_sync_t mbox_sync;
fp@251: 
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
fp@434: 
fp@434:     if (ec_fsm_change_running(&fsm->fsm_change)) return;
fp@434: 
fp@434:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@292:         slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@421:     slave->configured = 1;
fp@421: 
fp@409:     if (master->debug_level) {
fp@409:         EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
fp@409:     }
fp@409: 
fp@251:     // slave is now in INIT
fp@251:     if (slave->current_state == slave->requested_state) {
fp@325:         fsm->slave_state = ec_fsm_end; // successful
fp@409:         if (master->debug_level) {
fp@409:             EC_DBG("Finished configuration of slave %i.\n",
fp@409:                    slave->ring_position);
fp@409:         }
fp@325:         return;
fp@251:     }
fp@251: 
fp@251:     // check and reset CRC fault counters
fp@251:     //ec_slave_check_crc(slave);
fp@325:     // TODO: Implement state machine for CRC checking.
fp@251: 
fp@251:     if (!slave->base_sync_count) { // no sync managers
fp@308:         fsm->slave_state = ec_fsm_slaveconf_preop;
fp@434:         ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
fp@434:         ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@251:         return;
fp@251:     }
fp@251: 
fp@409:     if (master->debug_level) {
fp@409:         EC_DBG("Configuring sync managers of slave %i.\n",
fp@409:                slave->ring_position);
fp@409:     }
fp@409: 
fp@251:     // configure sync managers
fp@293:     ec_datagram_npwr(datagram, slave->station_address, 0x0800,
fp@293:                      EC_SYNC_SIZE * slave->base_sync_count);
fp@293:     memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
fp@251: 
fp@420:     if (list_empty(&slave->sii_syncs)) {
fp@420:         if (slave->sii_rx_mailbox_offset && slave->sii_tx_mailbox_offset) {
fp@420:             if (slave->master->debug_level)
fp@420:                 EC_DBG("Guessing sync manager settings for slave %i.\n",
fp@420:                        slave->ring_position);
fp@420:             mbox_sync.index = 0;
fp@420:             mbox_sync.physical_start_address = slave->sii_tx_mailbox_offset;
fp@420:             mbox_sync.length = slave->sii_tx_mailbox_size;
fp@420:             mbox_sync.control_register = 0x26;
fp@420:             mbox_sync.enable = 0x01;
fp@420:             mbox_sync.est_length = 0;
fp@420:             ec_sync_config(&mbox_sync, slave,
fp@420:                            datagram->data + EC_SYNC_SIZE * mbox_sync.index);
fp@420:             mbox_sync.index = 1;
fp@420:             mbox_sync.physical_start_address = slave->sii_rx_mailbox_offset;
fp@420:             mbox_sync.length = slave->sii_rx_mailbox_size;
fp@420:             mbox_sync.control_register = 0x22;
fp@420:             mbox_sync.enable = 0x01;
fp@420:             mbox_sync.est_length = 0;
fp@420:             ec_sync_config(&mbox_sync, slave,
fp@420:                            datagram->data + EC_SYNC_SIZE * mbox_sync.index);
fp@420:         }
fp@420:     }
fp@420:     else {
fp@420:         list_for_each_entry(sync, &slave->sii_syncs, list) {
fp@420:             if (sync->index >= slave->base_sync_count) {
fp@420:                 EC_ERR("Invalid sync manager configuration found!");
fp@420:                 fsm->slave->error_flag = 1;
fp@420:                 fsm->slave_state = ec_fsm_error;
fp@420:                 return;
fp@420:             }
fp@420:             ec_sync_config(sync, slave,
fp@420:                            datagram->data + EC_SYNC_SIZE * sync->index);
fp@420:         }
fp@251:     }
fp@251: 
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@309:     fsm->slave_state = ec_fsm_slaveconf_sync;
fp@309: }
fp@309: 
fp@309: /*****************************************************************************/
fp@309: 
fp@309: /**
fp@409:    Slave configuration state: SYNC.
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@292:         slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@260:         EC_ERR("Failed to set sync managers on slave %i.\n",
fp@251:                slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@309:     fsm->slave_state = ec_fsm_slaveconf_preop;
fp@434:     ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@409:    Slave configuration state: PREOP.
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@251:     ec_slave_t *slave = fsm->slave;
fp@251:     ec_master_t *master = fsm->master;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@251:     unsigned int j;
fp@251: 
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
fp@434: 
fp@434:     if (ec_fsm_change_running(&fsm->fsm_change)) return;
fp@434: 
fp@434:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@292:         slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@251:     // slave is now in PREOP
fp@419:     slave->jiffies_preop = fsm->datagram.jiffies_received;
fp@409: 
fp@409:     if (master->debug_level) {
fp@409:         EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
fp@409:     }
fp@409: 
fp@419:     if (slave->current_state == slave->requested_state) {
fp@419:         fsm->slave_state = ec_fsm_end; // successful
fp@419:         if (master->debug_level) {
fp@419:             EC_DBG("Finished configuration of slave %i.\n",
fp@419:                    slave->ring_position);
fp@419:         }
fp@419:         return;
fp@419:     }
fp@419: 
fp@419:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@419:         if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fp@338:             fsm->slave_state = ec_fsm_slaveconf_saveop;
fp@434:             ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
fp@434:             ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@338:             return;
fp@338:         }
fp@409: 
fp@409:         // start SDO configuration
fp@338:         fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fp@405:         fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fp@338:         fsm->coe_state = ec_fsm_coe_down_start;
fp@338:         fsm->coe_state(fsm); // execute immediately
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // configure FMMUs
fp@293:     ec_datagram_npwr(datagram, slave->station_address,
fp@293:                      0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@293:     memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@251:     for (j = 0; j < slave->fmmu_count; j++) {
fp@275:         ec_fmmu_config(&slave->fmmus[j], slave,
fp@293:                        datagram->data + EC_FMMU_SIZE * j);
fp@293:     }
fp@293: 
fp@293:     ec_master_queue_datagram(master, datagram);
fp@309:     fsm->slave_state = ec_fsm_slaveconf_fmmu;
fp@309: }
fp@309: 
fp@309: /*****************************************************************************/
fp@309: 
fp@309: /**
fp@409:    Slave configuration state: FMMU.
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
fp@309: {
fp@309:     ec_datagram_t *datagram = &fsm->datagram;
fp@419:     ec_slave_t *slave = fsm->slave;
fp@309: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@325:         || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@292:         EC_ERR("Failed to set FMMUs on slave %i.\n",
fp@292:                fsm->slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@419:     // No CoE configuration to be applied? Jump to SAVEOP state.
fp@419:     if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fp@419:         // set state to SAVEOP
fp@419:         fsm->slave_state = ec_fsm_slaveconf_saveop;
fp@434:         ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
fp@434:         ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@419:         return;
fp@419:     }
fp@419: 
fp@419:     // start SDO configuration
fp@419:     fsm->slave_state = ec_fsm_slaveconf_sdoconf;
fp@419:     fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
fp@419:     fsm->coe_state = ec_fsm_coe_down_start;
fp@419:     fsm->coe_state(fsm); // execute immediately
fp@419: }
fp@419: 
fp@419: /*****************************************************************************/
fp@419: 
fp@419: /**
fp@419:    Slave configuration state: SDOCONF.
fp@419: */
fp@419: 
fp@419: void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
fp@419: {
fp@419:     fsm->coe_state(fsm); // execute CoE state machine
fp@419: 
fp@419:     if (fsm->coe_state == ec_fsm_error) {
fp@419:         fsm->slave->error_flag = 1;
fp@419:         fsm->slave_state = ec_fsm_error;
fp@419:         return;
fp@419:     }
fp@419: 
fp@419:     if (fsm->coe_state != ec_fsm_end) return;
fp@419: 
fp@419:     // Another SDO to configure?
fp@419:     if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
fp@419:         fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
fp@419:                                       ec_sdo_data_t, list);
fp@419:         fsm->coe_state = ec_fsm_coe_down_start;
fp@419:         fsm->coe_state(fsm); // execute immediately
fp@419:         return;
fp@419:     }
fp@419: 
fp@419:     // All SDOs are now configured.
fp@419: 
fp@251:     // set state to SAVEOP
fp@309:     fsm->slave_state = ec_fsm_slaveconf_saveop;
fp@434:     ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@409:    Slave configuration state: SAVEOP.
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@409:     ec_master_t *master = fsm->master;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
fp@434: 
fp@434:     if (ec_fsm_change_running(&fsm->fsm_change)) return;
fp@434: 
fp@434:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@292:         fsm->slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@251:     // slave is now in SAVEOP
fp@409: 
fp@409:     if (master->debug_level) {
fp@411:         EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
fp@409:     }
fp@409: 
fp@251:     if (fsm->slave->current_state == fsm->slave->requested_state) {
fp@325:         fsm->slave_state = ec_fsm_end; // successful
fp@409:         if (master->debug_level) {
fp@409:             EC_DBG("Finished configuration of slave %i.\n",
fp@409:                    slave->ring_position);
fp@409:         }
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // set state to OP
fp@309:     fsm->slave_state = ec_fsm_slaveconf_op;
fp@434:     ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@409:    Slave configuration state: OP
fp@309: */
fp@309: 
fp@309: void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@409:     ec_master_t *master = fsm->master;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@434:     ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
fp@434: 
fp@434:     if (ec_fsm_change_running(&fsm->fsm_change)) return;
fp@434: 
fp@434:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@409:         slave->error_flag = 1;
fp@325:         fsm->slave_state = ec_fsm_error;
fp@325:         return;
fp@325:     }
fp@325: 
fp@251:     // slave is now in OP
fp@409: 
fp@409:     if (master->debug_level) {
fp@409:         EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
fp@409:         EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
fp@409:     }
fp@409: 
fp@325:     fsm->slave_state = ec_fsm_end; // successful
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@409:  *  CoE dictionary state machine
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT START.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_start(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409:     uint8_t *data;
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@409:     EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
fp@409:     EC_WRITE_U8 (data + 3, 0x00);
fp@409:     EC_WRITE_U16(data + 4, 0x0000);
fp@409:     EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
fp@409: 
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_request;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT REQUEST.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_request(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@425:         EC_ERR("Reception of CoE dictionary request failed on slave %i.\n",
fp@425:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     fsm->coe_start = datagram->cycles_sent;
fp@409: 
fp@409:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_check;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT CHECK.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@425:         EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
fp@425:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!ec_slave_mbox_check(datagram)) {
fp@409:         if (datagram->cycles_received
fp@409:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
fp@409:                    slave->ring_position);
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     // Fetch response
fp@409:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_response;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT RESPONSE.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409:     uint8_t *data, mbox_prot;
fp@409:     size_t rec_size;
fp@409:     unsigned int sdo_count, i;
fp@409:     uint16_t sdo_index;
fp@409:     ec_sdo_t *sdo;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@425:         EC_ERR("Reception of CoE dictionary response failed on slave %i.\n",
fp@425:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@409: 				     &mbox_prot, &rec_size))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (mbox_prot != 0x03) { // CoE
fp@409:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@409:         (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
fp@409:         EC_ERR("SDO information error response at slave %i!\n",
fp@409:                slave->ring_position);
fp@409:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@409:         (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
fp@409:         EC_ERR("Invalid SDO list response at slave %i!\n",
fp@409:                slave->ring_position);
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (rec_size < 8) {
fp@409:         EC_ERR("Invalid data size!\n");
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     sdo_count = (rec_size - 8) / 2;
fp@409: 
fp@409:     for (i = 0; i < sdo_count; i++) {
fp@409:         sdo_index = EC_READ_U16(data + 8 + i * 2);
fp@409:         if (!sdo_index) {
fp@423:             EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
fp@423:                     slave->ring_position);
fp@409:             continue;
fp@409:         }
fp@409: 
fp@409:         if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
fp@409:             EC_ERR("Failed to allocate memory for SDO!\n");
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         if (ec_sdo_init(sdo, sdo_index, slave)) {
fp@409:             EC_ERR("Failed to init SDO!\n");
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         if (kobject_add(&sdo->kobj)) {
fp@409:             EC_ERR("Failed to add kobject.\n");
fp@409:             kobject_put(&sdo->kobj); // free
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         list_add_tail(&sdo->list, &slave->sdo_dictionary);
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
fp@409:         fsm->coe_start = datagram->cycles_sent;
fp@409:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         fsm->coe_state = ec_fsm_coe_dict_check;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (list_empty(&slave->sdo_dictionary)) {
fp@409:         // no SDOs in dictionary. finished.
fp@409:         fsm->coe_state = ec_fsm_end; // success
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     // fetch SDO descriptions
fp@409:     fsm->coe_sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@409:     EC_WRITE_U8 (data + 2, 0x03); // Get object description request
fp@409:     EC_WRITE_U8 (data + 3, 0x00);
fp@409:     EC_WRITE_U16(data + 4, 0x0000);
fp@409:     EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
fp@409: 
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_desc_request;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT DESC REQUEST.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE SDO description"
fp@423:                " request failed on slave %i.\n", slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     fsm->coe_start = datagram->cycles_sent;
fp@409: 
fp@409:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_desc_check;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT DESC CHECK.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
fp@423:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!ec_slave_mbox_check(datagram)) {
fp@409:         if (datagram->cycles_received
fp@409:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             EC_ERR("Timeout while checking SDO description on slave %i.\n",
fp@409:                    slave->ring_position);
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     // Fetch response
fp@409:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_desc_response;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT DESC RESPONSE.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409:     ec_sdo_t *sdo = fsm->coe_sdo;
fp@409:     uint8_t *data, mbox_prot;
fp@409:     size_t rec_size, name_size;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE SDO description"
fp@423:                "response failed on slave %i.\n", slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@409: 				     &mbox_prot, &rec_size))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (mbox_prot != 0x03) { // CoE
fp@409:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@409:         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
fp@409:         EC_ERR("SDO information error response at slave %i while"
fp@409:                " fetching SDO 0x%04X!\n", slave->ring_position,
fp@409:                sdo->index);
fp@409:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@409:         (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
fp@409:         EC_READ_U16(data + 6) != sdo->index) { // SDO index
fp@409:         EC_ERR("Invalid object description response at slave %i while"
fp@409:                " fetching SDO 0x%04X!\n", slave->ring_position,
fp@409:                sdo->index);
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (rec_size < 12) {
fp@409:         EC_ERR("Invalid data size!\n");
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     sdo->subindices = EC_READ_U8(data + 10);
fp@409:     sdo->object_code = EC_READ_U8(data + 11);
fp@409: 
fp@409:     name_size = rec_size - 12;
fp@409:     if (name_size) {
fp@409:         if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
fp@409:             EC_ERR("Failed to allocate SDO name!\n");
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         memcpy(sdo->name, data + 12, name_size);
fp@409:         sdo->name[name_size] = 0;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U8(data + 2) & 0x80) {
fp@409:         EC_ERR("Fragment follows (not implemented)!\n");
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@429:     // start fetching entries
fp@429: 
fp@429:     fsm->coe_subindex = 0;
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@409:     EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
fp@409:     EC_WRITE_U8 (data + 3, 0x00);
fp@409:     EC_WRITE_U16(data + 4, 0x0000);
fp@409:     EC_WRITE_U16(data + 6, sdo->index); // SDO index
fp@409:     EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
fp@409:     EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fp@409: 
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_entry_request;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT ENTRY REQUEST.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
fp@423:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     fsm->coe_start = datagram->cycles_sent;
fp@409: 
fp@409:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_entry_check;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT ENTRY CHECK.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
fp@423:                slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!ec_slave_mbox_check(datagram)) {
fp@409:         if (datagram->cycles_received
fp@409:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             EC_ERR("Timeout while checking SDO entry on slave %i.\n",
fp@409:                    slave->ring_position);
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     // Fetch response
fp@409:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@409:     ec_master_queue_datagram(fsm->master, datagram);
fp@409:     fsm->coe_state = ec_fsm_coe_dict_entry_response;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    CoE state: DICT ENTRY RESPONSE.
fp@409: */
fp@409: 
fp@409: void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
fp@409: {
fp@409:     ec_datagram_t *datagram = &fsm->datagram;
fp@409:     ec_slave_t *slave = fsm->slave;
fp@409:     ec_sdo_t *sdo = fsm->coe_sdo;
fp@409:     uint8_t *data, mbox_prot;
fp@409:     size_t rec_size, data_size;
fp@409:     ec_sdo_entry_t *entry;
fp@409: 
fp@409:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@409:         || datagram->working_counter != 1) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@423:         EC_ERR("Reception of CoE SDO description"
fp@423:                " response failed on slave %i.\n", slave->ring_position);
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@409: 				     &mbox_prot, &rec_size))) {
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     if (mbox_prot != 0x03) { // CoE
fp@409:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@409:         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
fp@409:         EC_ERR("SDO information error response at slave %i while"
fp@409:                " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
fp@409:                sdo->index, fsm->coe_subindex);
fp@409:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@409:         (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
fp@409:         EC_READ_U16(data + 6) != sdo->index || // SDO index
fp@409:         EC_READ_U8(data + 8) != fsm->coe_subindex) { // SDO subindex
fp@409:         EC_ERR("Invalid entry description response at slave %i while"
fp@409:                " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
fp@409:                sdo->index, fsm->coe_subindex);
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (rec_size < 16) {
fp@409:         EC_ERR("Invalid data size!\n");
fp@409:         ec_print_data(data, rec_size);
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     data_size = rec_size - 16;
fp@409: 
fp@409:     if (!(entry = (ec_sdo_entry_t *)
fp@409:           kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
fp@409:         EC_ERR("Failed to allocate entry!\n");
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     if (ec_sdo_entry_init(entry, fsm->coe_subindex, sdo)) {
fp@409:         EC_ERR("Failed to init entry!\n");
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409: 	return;
fp@409:     }
fp@409: 
fp@409:     entry->data_type = EC_READ_U16(data + 10);
fp@409:     entry->bit_length = EC_READ_U16(data + 12);
fp@409: 
fp@409:     if (data_size) {
fp@409:         if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) {
fp@409:             EC_ERR("Failed to allocate SDO entry name!\n");
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409:         memcpy(entry->description, data + 16, data_size);
fp@409:         entry->description[data_size] = 0;
fp@409:     }
fp@409: 
fp@409:     if (kobject_add(&entry->kobj)) {
fp@409:         EC_ERR("Failed to add kobject.\n");
fp@409:         kobject_put(&entry->kobj); // free
fp@409:         fsm->coe_state = ec_fsm_error;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     list_add_tail(&entry->list, &sdo->entries);
fp@409: 
fp@409:     if (fsm->coe_subindex < sdo->subindices) {
fp@409:         fsm->coe_subindex++;
fp@409: 
fp@409:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@409:         EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
fp@409:         EC_WRITE_U8 (data + 3, 0x00);
fp@409:         EC_WRITE_U16(data + 4, 0x0000);
fp@409:         EC_WRITE_U16(data + 6, sdo->index); // SDO index
fp@409:         EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
fp@409:         EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fp@409: 
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         fsm->coe_state = ec_fsm_coe_dict_entry_request;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     // another SDO description to fetch?
fp@409:     if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) {
fp@409:         fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list);
fp@409: 
fp@409:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@409:             fsm->coe_state = ec_fsm_error;
fp@409:             return;
fp@409:         }
fp@409: 
fp@409:         EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@409:         EC_WRITE_U8 (data + 2, 0x03); // Get object description request
fp@409:         EC_WRITE_U8 (data + 3, 0x00);
fp@409:         EC_WRITE_U16(data + 4, 0x0000);
fp@409:         EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
fp@409: 
fp@409:         ec_master_queue_datagram(fsm->master, datagram);
fp@409:         fsm->coe_state = ec_fsm_coe_dict_desc_request;
fp@409:         return;
fp@409:     }
fp@409: 
fp@409:     fsm->coe_state = ec_fsm_end;
fp@409: }
fp@409: 
fp@409: /******************************************************************************
fp@329:  *  CoE state machine
fp@329:  *****************************************************************************/
fp@329: 
fp@329: /**
fp@409:    CoE state: DOWN START.
fp@329: */
fp@329: 
fp@329: void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */)
fp@329: {
fp@329:     ec_datagram_t *datagram = &fsm->datagram;
fp@329:     ec_slave_t *slave = fsm->slave;
fp@405:     ec_sdo_data_t *sdodata = fsm->coe_sdodata;
fp@329:     uint8_t *data;
fp@329: 
fp@329:     EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
fp@329:             sdodata->index, sdodata->subindex, slave->ring_position);
fp@329: 
fp@329:     if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
fp@329:         EC_ERR("SDO fragmenting not supported yet!\n");
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
fp@329:                                             sdodata->size + 10))) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@329:     EC_WRITE_U8 (data + 2, (0x1 // size specified
fp@329:                             | 0x1 << 5)); // Download request
fp@329:     EC_WRITE_U16(data + 3, sdodata->index);
fp@329:     EC_WRITE_U8 (data + 5, sdodata->subindex);
fp@329:     EC_WRITE_U32(data + 6, sdodata->size);
fp@390:     memcpy(data + 10, sdodata->data, sdodata->size);
fp@329: 
fp@329:     ec_master_queue_datagram(fsm->master, datagram);
fp@329:     fsm->coe_state = ec_fsm_coe_down_request;
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@409:    CoE state: DOWN REQUEST.
fp@329: */
fp@329: 
fp@329: void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */)
fp@329: {
fp@329:     ec_datagram_t *datagram = &fsm->datagram;
fp@329:     ec_slave_t *slave = fsm->slave;
fp@329: 
fp@329:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@329:         || datagram->working_counter != 1) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("Reception of CoE download request failed.\n");
fp@329:         return;
fp@329:     }
fp@329: 
fp@398:     fsm->coe_start = datagram->cycles_sent;
fp@329: 
fp@329:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@329:     ec_master_queue_datagram(fsm->master, datagram);
fp@329:     fsm->coe_state = ec_fsm_coe_down_check;
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@409:    CoE state: DOWN CHECK.
fp@329: */
fp@329: 
fp@329: void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
fp@329: {
fp@329:     ec_datagram_t *datagram = &fsm->datagram;
fp@329:     ec_slave_t *slave = fsm->slave;
fp@329: 
fp@329:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@329:         || datagram->working_counter != 1) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("Reception of CoE mailbox check datagram failed.\n");
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     if (!ec_slave_mbox_check(datagram)) {
fp@398:         if (datagram->cycles_received
fp@398:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@329:             fsm->coe_state = ec_fsm_error;
fp@329:             EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
fp@329:                    slave->ring_position);
fp@329:             return;
fp@329:         }
fp@329: 
fp@329:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@329:         ec_master_queue_datagram(fsm->master, datagram);
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     // Fetch response
fp@329:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@329:     ec_master_queue_datagram(fsm->master, datagram);
fp@339:     fsm->coe_state = ec_fsm_coe_down_response;
fp@339: }
fp@339: 
fp@339: /*****************************************************************************/
fp@339: 
fp@339: /**
fp@409:    CoE state: DOWN RESPONSE.
fp@339: */
fp@339: 
fp@339: void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)
fp@329: {
fp@329:     ec_datagram_t *datagram = &fsm->datagram;
fp@329:     ec_slave_t *slave = fsm->slave;
fp@391:     uint8_t *data, mbox_prot;
fp@329:     size_t rec_size;
fp@405:     ec_sdo_data_t *sdodata = fsm->coe_sdodata;
fp@329: 
fp@329:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@329:         || datagram->working_counter != 1) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("Reception of CoE download response failed.\n");
fp@329:         return;
fp@329:     }
fp@329: 
fp@390:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@391: 				     &mbox_prot, &rec_size))) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         return;
fp@329:     }
fp@329: 
fp@391:     if (mbox_prot != 0x03) { // CoE
fp@391:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@391:         fsm->coe_state = ec_fsm_error;
fp@390: 	return;
fp@390:     }
fp@390: 
fp@329:     if (rec_size < 6) {
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("Received data is too small (%i bytes):\n", rec_size);
fp@329:         ec_print_data(data, rec_size);
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@329:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
fp@329:                sdodata->index, sdodata->subindex, sdodata->size,
fp@329:                slave->ring_position);
fp@329:         if (rec_size < 10) {
fp@329:             EC_ERR("Incomplete Abort command:\n");
fp@329:             ec_print_data(data, rec_size);
fp@329:         }
fp@329:         else
fp@329:             ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@329:         EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
fp@329:         EC_READ_U16(data + 3) != sdodata->index || // index
fp@329:         EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
fp@329:         fsm->coe_state = ec_fsm_error;
fp@329:         EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
fp@329:                sdodata->index, sdodata->subindex, sdodata->size);
fp@329:         EC_ERR("Invalid SDO download response at slave %i!\n",
fp@329:                slave->ring_position);
fp@329:         ec_print_data(data, rec_size);
fp@329:         return;
fp@329:     }
fp@329: 
fp@329:     fsm->coe_state = ec_fsm_end; // success
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@430:    CoE state: UP START.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_start(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430:     ec_master_t *master = slave->master;
fp@430:     ec_sdo_request_t *request = fsm->coe_request;
fp@430:     ec_sdo_t *sdo = request->sdo;
fp@430:     ec_sdo_entry_t *entry = request->entry;
fp@430:     uint8_t *data;
fp@430: 
fp@430:     EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
fp@430:             sdo->index, entry->subindex, slave->ring_position);
fp@430: 
fp@430:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@430:     EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
fp@430:     EC_WRITE_U16(data + 3, sdo->index);
fp@430:     EC_WRITE_U8 (data + 5, entry->subindex);
fp@430: 
fp@430:     if (master->debug_level) {
fp@430:         EC_DBG("Upload request:\n");
fp@430:         ec_print_data(data, 6);
fp@430:     }
fp@430: 
fp@430:     ec_master_queue_datagram(fsm->master, datagram);
fp@430:     fsm->coe_state = ec_fsm_coe_up_request;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP REQUEST.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_request(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE upload request failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     fsm->coe_start = datagram->cycles_sent;
fp@430: 
fp@430:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@430:     ec_master_queue_datagram(fsm->master, datagram);
fp@430:     fsm->coe_state = ec_fsm_coe_up_check;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP CHECK.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_check(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE mailbox check datagram failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (!ec_slave_mbox_check(datagram)) {
fp@430:         if (datagram->cycles_received
fp@430:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@430:             fsm->coe_state = ec_fsm_error;
fp@430:             EC_ERR("Timeout while checking SDO upload on slave %i.\n",
fp@430:                    slave->ring_position);
fp@430:             return;
fp@430:         }
fp@430: 
fp@430:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@430:         ec_master_queue_datagram(fsm->master, datagram);
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     // Fetch response
fp@430:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@430:     ec_master_queue_datagram(fsm->master, datagram);
fp@430:     fsm->coe_state = ec_fsm_coe_up_response;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP RESPONSE.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_response(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430:     ec_master_t *master = slave->master;
fp@430:     uint8_t *data, mbox_prot;
fp@430:     size_t rec_size, data_size;
fp@430:     ec_sdo_request_t *request = fsm->coe_request;
fp@430:     ec_sdo_t *sdo = request->sdo;
fp@430:     ec_sdo_entry_t *entry = request->entry;
fp@430:     uint32_t complete_size;
fp@430:     unsigned int expedited, size_specified;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE upload response failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@430: 				     &mbox_prot, &rec_size))) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (master->debug_level) {
fp@430:         EC_DBG("Upload response:\n");
fp@430:         ec_print_data(data, rec_size);
fp@430:     }
fp@430: 
fp@430:     if (mbox_prot != 0x03) { // CoE
fp@430:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (rec_size < 10) {
fp@430:         EC_ERR("Received currupted SDO upload response!\n");
fp@430:         ec_print_data(data, rec_size);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@430:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@430:         EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
fp@430:                sdo->index, entry->subindex, slave->ring_position);
fp@430:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@430:         EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
fp@430:         EC_READ_U16(data + 3) != sdo->index || // index
fp@430:         EC_READ_U8 (data + 5) != entry->subindex) { // subindex
fp@430:         EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
fp@430:         EC_ERR("Invalid SDO upload response at slave %i!\n",
fp@430:                slave->ring_position);
fp@430:         ec_print_data(data, rec_size);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     data_size = rec_size - 10;
fp@430:     expedited = EC_READ_U8(data + 2) & 0x02;
fp@430: 
fp@430:     if (expedited) {
fp@430:         EC_WARN("Received expedited response upon normal request!\n");
fp@430: 
fp@430:         size_specified = EC_READ_U8(data + 2) & 0x01;
fp@430:         if (size_specified) {
fp@430:             complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
fp@430:         }
fp@430:         else {
fp@430:             complete_size = 4;
fp@430:         }
fp@430:     }
fp@430:     else {
fp@430:         complete_size = EC_READ_U32(data + 6);
fp@430:     }
fp@430: 
fp@430:     if (request->data) {
fp@430:         kfree(request->data);
fp@430:         request->data = NULL;
fp@430:     }
fp@430:     request->size = 0;
fp@430: 
fp@430:     if (complete_size) {
fp@430:         if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
fp@430:             EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
fp@430:             fsm->coe_state = ec_fsm_error;
fp@430:             return;
fp@430:         }
fp@430:         request->data[complete_size] = 0x00; // just to be sure...
fp@430:     }
fp@430: 
fp@430:     if (expedited) {
fp@430:         memcpy(request->data, data + 6, complete_size);
fp@430:         request->size = complete_size;
fp@430:     }
fp@430:     else {
fp@430:         memcpy(request->data, data + 10, data_size);
fp@430:         request->size = data_size;
fp@430:         fsm->coe_toggle = 0;
fp@430: 
fp@430:         if (data_size < complete_size) {
fp@430:             EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
fp@430: 
fp@430:             if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
fp@430:                 fsm->coe_state = ec_fsm_error;
fp@430:                 return;
fp@430:             }
fp@430: 
fp@430:             EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@430:             EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
fp@430:                                     | 0x3 << 5)); // upload segment request
fp@430: 
fp@430:             if (master->debug_level) {
fp@430:                 EC_DBG("Upload segment request:\n");
fp@430:                 ec_print_data(data, 3);
fp@430:             }
fp@430: 
fp@430:             ec_master_queue_datagram(fsm->master, datagram);
fp@430:             fsm->coe_state = ec_fsm_coe_up_seg_request;
fp@430:             return;
fp@430:         }
fp@430:     }
fp@430: 
fp@430:     fsm->coe_state = ec_fsm_end; // success
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP REQUEST.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_seg_request(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE upload segment request failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     fsm->coe_start = datagram->cycles_sent;
fp@430: 
fp@430:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@430:     ec_master_queue_datagram(fsm->master, datagram);
fp@430:     fsm->coe_state = ec_fsm_coe_up_seg_check;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP CHECK.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_seg_check(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE mailbox check datagram failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (!ec_slave_mbox_check(datagram)) {
fp@430:         if (datagram->cycles_received
fp@430:             - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
fp@430:             fsm->coe_state = ec_fsm_error;
fp@430:             EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
fp@430:                    slave->ring_position);
fp@430:             return;
fp@430:         }
fp@430: 
fp@430:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@430:         ec_master_queue_datagram(fsm->master, datagram);
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     // Fetch response
fp@430:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@430:     ec_master_queue_datagram(fsm->master, datagram);
fp@430:     fsm->coe_state = ec_fsm_coe_up_seg_response;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    CoE state: UP RESPONSE.
fp@430: */
fp@430: 
fp@430: void ec_fsm_coe_up_seg_response(ec_fsm_t *fsm /**< finite state machine */)
fp@430: {
fp@430:     ec_datagram_t *datagram = &fsm->datagram;
fp@430:     ec_slave_t *slave = fsm->slave;
fp@430:     ec_master_t *master = slave->master;
fp@430:     uint8_t *data, mbox_prot;
fp@430:     size_t rec_size, data_size;
fp@430:     ec_sdo_request_t *request = fsm->coe_request;
fp@430:     ec_sdo_t *sdo = request->sdo;
fp@430:     ec_sdo_entry_t *entry = request->entry;
fp@430:     uint32_t seg_size;
fp@430:     unsigned int last_segment;
fp@430: 
fp@430:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@430:         || datagram->working_counter != 1) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         EC_ERR("Reception of CoE upload segment response failed.\n");
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@430: 				     &mbox_prot, &rec_size))) {
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     if (master->debug_level) {
fp@430:         EC_DBG("Upload segment response:\n");
fp@430:         ec_print_data(data, rec_size);
fp@430:     }
fp@430: 
fp@430:     if (mbox_prot != 0x03) { // CoE
fp@430:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (rec_size < 10) {
fp@430:         EC_ERR("Received currupted SDO upload segment response!\n");
fp@430:         ec_print_data(data, rec_size);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@430:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@430:         EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
fp@430:                sdo->index, entry->subindex, slave->ring_position);
fp@430:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@430:         EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
fp@430:         EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
fp@430:         EC_ERR("Invalid SDO upload segment response at slave %i!\n",
fp@430:                slave->ring_position);
fp@430:         ec_print_data(data, rec_size);
fp@430:         fsm->coe_state = ec_fsm_error;
fp@430: 	return;
fp@430:     }
fp@430: 
fp@430:     last_segment = EC_READ_U8(data + 2) & 0x01;
fp@430:     seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
fp@430:     data_size = rec_size - 10;
fp@430: 
fp@430:     if (data_size != seg_size) {
fp@430:         EC_WARN("SDO segment data invalid (%i / %i)"
fp@430:                 " - Fragmenting not implemented.\n",
fp@430:                 data_size, seg_size);
fp@430:     }
fp@430: 
fp@430:     memcpy(request->data + request->size, data + 10, data_size);
fp@430:     request->size += data_size;
fp@430: 
fp@430:     if (!last_segment) {
fp@430:         fsm->coe_toggle = !fsm->coe_toggle;
fp@430: 
fp@430:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
fp@430:             fsm->coe_state = ec_fsm_error;
fp@430:             return;
fp@430:         }
fp@430: 
fp@430:         EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@430:         EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
fp@430:                                 | 0x3 << 5)); // upload segment request
fp@430: 
fp@430:         if (master->debug_level) {
fp@430:             EC_DBG("Upload segment request:\n");
fp@430:             ec_print_data(data, 3);
fp@430:         }
fp@430: 
fp@430:         ec_master_queue_datagram(fsm->master, datagram);
fp@430:         fsm->coe_state = ec_fsm_coe_up_seg_request;
fp@430:         return;
fp@430:     }
fp@430: 
fp@430:     fsm->coe_state = ec_fsm_end; // success
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@329:    SDO abort messages.
fp@329:    The "abort SDO transfer request" supplies an abort code,
fp@329:    which can be translated to clear text. This table does
fp@329:    the mapping of the codes and messages.
fp@329: */
fp@329: 
fp@329: const ec_code_msg_t sdo_abort_messages[] = {
fp@329:     {0x05030000, "Toggle bit not changed"},
fp@329:     {0x05040000, "SDO protocol timeout"},
fp@329:     {0x05040001, "Client/Server command specifier not valid or unknown"},
fp@329:     {0x05040005, "Out of memory"},
fp@329:     {0x06010000, "Unsupported access to an object"},
fp@329:     {0x06010001, "Attempt to read a write-only object"},
fp@329:     {0x06010002, "Attempt to write a read-only object"},
fp@329:     {0x06020000, "This object does not exist in the object directory"},
fp@329:     {0x06040041, "The object cannot be mapped into the PDO"},
fp@329:     {0x06040042, "The number and length of the objects to be mapped would"
fp@329:      " exceed the PDO length"},
fp@329:     {0x06040043, "General parameter incompatibility reason"},
fp@329:     {0x06040047, "Gerneral internal incompatibility in device"},
fp@329:     {0x06060000, "Access failure due to a hardware error"},
fp@329:     {0x06070010, "Data type does not match, length of service parameter does"
fp@329:      " not match"},
fp@329:     {0x06070012, "Data type does not match, length of service parameter too"
fp@329:      " high"},
fp@329:     {0x06070013, "Data type does not match, length of service parameter too"
fp@329:      " low"},
fp@329:     {0x06090011, "Subindex does not exist"},
fp@329:     {0x06090030, "Value range of parameter exceeded"},
fp@329:     {0x06090031, "Value of parameter written too high"},
fp@329:     {0x06090032, "Value of parameter written too low"},
fp@329:     {0x06090036, "Maximum value is less than minimum value"},
fp@329:     {0x08000000, "General error"},
fp@329:     {0x08000020, "Data cannot be transferred or stored to the application"},
fp@329:     {0x08000021, "Data cannot be transferred or stored to the application"
fp@329:      " because of local control"},
fp@329:     {0x08000022, "Data cannot be transferred or stored to the application"
fp@329:      " because of the present device state"},
fp@329:     {0x08000023, "Object dictionary dynamic generation fails or no object"
fp@329:      " dictionary is present"},
fp@329:     {}
fp@329: };
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    Outputs an SDO abort message.
fp@329: */
fp@329: 
fp@329: void ec_canopen_abort_msg(uint32_t abort_code)
fp@329: {
fp@329:     const ec_code_msg_t *abort_msg;
fp@329: 
fp@329:     for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
fp@329:         if (abort_msg->code == abort_code) {
fp@329:             EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
fp@329:                    abort_msg->code, abort_msg->message);
fp@329:             return;
fp@329:         }
fp@329:     }
fp@329: 
fp@329:     EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
fp@329: }
fp@329: 
fp@329: /******************************************************************************
fp@329:  *  Common state functions
fp@329:  *****************************************************************************/
fp@286: 
fp@286: /**
fp@325:    State: ERROR.
fp@325: */
fp@325: 
fp@325: void ec_fsm_error(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@325: /**
fp@325:    State: END.
fp@325: */
fp@325: 
fp@325: void ec_fsm_end(ec_fsm_t *fsm /**< finite state machine */)
fp@325: {
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/