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@907: /** \file
fp@907:  * EtherCAT master state machine.
fp@907:  */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #include "globals.h"
fp@238: #include "master.h"
fp@329: #include "mailbox.h"
fp@858: #include "slave_config.h"
fp@715: #ifdef EC_EOE
fp@661: #include "ethernet.h"
fp@715: #endif
fp@849: 
fp@528: #include "fsm_master.h"
fp@528: 
fp@528: /*****************************************************************************/
fp@528: 
fp@528: void ec_fsm_master_state_start(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
fp@907: void ec_fsm_master_state_read_state(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
fp@717: void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
fp@907: void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
fp@872: void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
fp@905: void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_end(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_error(ec_fsm_master_t *);
fp@251: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Constructor.
fp@907:  */
fp@907: void ec_fsm_master_init(
fp@907:         ec_fsm_master_t *fsm, /**< Master state machine. */
fp@907:         ec_master_t *master, /**< EtherCAT master. */
fp@907:         ec_datagram_t *datagram /**< Datagram object to use. */
fp@528:         )
fp@238: {
fp@238:     fsm->master = master;
fp@528:     fsm->datagram = datagram;
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@650:     fsm->idle = 0;
fp@528:     fsm->slaves_responding = 0;
fp@553:     fsm->topology_change_pending = 0;
fp@528:     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238: 
fp@436:     // init sub-state-machines
fp@830:     ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
fp@831:     ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
fp@831:             &fsm->fsm_slave_config, &fsm->fsm_coe_map);
fp@528:     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
fp@528:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@528:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@741:     ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Destructor.
fp@907:  */
fp@907: void ec_fsm_master_clear(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@238: {
fp@436:     // clear sub-state machines
fp@830:     ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
fp@830:     ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
fp@433:     ec_fsm_sii_clear(&fsm->fsm_sii);
fp@434:     ec_fsm_change_clear(&fsm->fsm_change);
fp@436:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@741:     ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Executes the current state of the state machine.
fp@907:  *
fp@907:  * If the state machine's datagram is not sent or received yet, the execution
fp@907:  * of the state machine is delayed to the next cycle.
fp@907:  *
fp@907:  * \return false, if state machine has terminated
fp@907:  */
fp@907: int ec_fsm_master_exec(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@528:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@528:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@505:         // datagram was not sent or received yet.
fp@528:         return ec_fsm_master_running(fsm);
fp@528:     }
fp@528: 
fp@528:     fsm->state(fsm);
fp@528:     return ec_fsm_master_running(fsm);
fp@456: }
fp@456: 
fp@456: /*****************************************************************************/
fp@456: 
fp@456: /**
fp@650:  * \return false, if state machine has terminated
fp@650:  */
fp@650: int ec_fsm_master_running(
fp@907:         const ec_fsm_master_t *fsm /**< Master state machine. */
fp@650:         )
fp@528: {
fp@528:     return fsm->state != ec_fsm_master_state_end
fp@528:         && fsm->state != ec_fsm_master_state_error;
fp@446: }
fp@446: 
fp@650: /*****************************************************************************/
fp@650: 
fp@650: /**
fp@650:  * \return true, if the state machine is in an idle phase
fp@650:  */
fp@650: int ec_fsm_master_idle(
fp@907:         const ec_fsm_master_t *fsm /**< Master state machine. */
fp@650:         )
fp@650: {
fp@650:     return fsm->idle;
fp@650: }
fp@650: 
fp@238: /******************************************************************************
fp@907:  * Master state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@907: /** Master state: START.
fp@907:  *
fp@907:  * Starts with getting slave count and slave states.
fp@907:  */
fp@907: void ec_fsm_master_state_start(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@650:     fsm->idle = 1;
fp@528:     ec_datagram_brd(fsm->datagram, 0x0130, 2);
fp@528:     fsm->state = ec_fsm_master_state_broadcast;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@907: /** Master state: BROADCAST.
fp@907:  *
fp@907:  * Processes the broadcast read slave count and slaves states.
fp@907:  */
fp@907: void ec_fsm_master_state_broadcast(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@553:     unsigned int i;
fp@238:     ec_slave_t *slave;
fp@260:     ec_master_t *master = fsm->master;
fp@238: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT)
fp@637:         return; // always retry
fp@505: 
fp@553:     // bus topology change?
fp@553:     if (datagram->working_counter != fsm->slaves_responding) {
fp@553:         fsm->topology_change_pending = 1;
fp@553:         fsm->slaves_responding = datagram->working_counter;
fp@906:         EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
fp@906:     }
fp@906: 
fp@906:     if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
fp@906:         fsm->state = ec_fsm_master_state_error;
fp@906:         return;
fp@260:     }
fp@260: 
fp@553:     // slave states changed?
fp@553:     if (EC_READ_U8(datagram->data) != fsm->slave_states) {
fp@403:         char states[EC_STATE_STRING_SIZE];
fp@553:         fsm->slave_states = EC_READ_U8(datagram->data);
fp@528:         ec_state_string(fsm->slave_states, states);
fp@325:         EC_INFO("Slave states: %s.\n", states);
fp@260:     }
fp@260: 
fp@656:     if (fsm->topology_change_pending) {
fp@656:         down(&master->scan_sem);
fp@656:         if (!master->allow_scan) {
fp@656:             up(&master->scan_sem);
fp@900:         } else {
fp@900:             master->scan_busy = 1;
fp@656:             up(&master->scan_sem);
fp@656:             
fp@656:             // topology change when scan is allowed:
fp@656:             // clear all slaves and scan the bus
fp@656:             fsm->topology_change_pending = 0;
fp@656:             fsm->idle = 0;
fp@656:             fsm->scan_jiffies = jiffies;
fp@656: 
fp@715: #ifdef EC_EOE
fp@656:             ec_master_eoe_stop(master);
fp@661:             ec_master_clear_eoe_handlers(master);
fp@715: #endif
fp@656:             ec_master_destroy_slaves(master);
fp@656: 
fp@656:             master->slave_count = datagram->working_counter;
fp@656: 
fp@656:             if (!master->slave_count) {
fp@656:                 // no slaves present -> finish state machine.
fp@900:                 master->scan_busy = 0;
fp@656:                 wake_up_interruptible(&master->scan_queue);
fp@656:                 fsm->state = ec_fsm_master_state_end;
fp@260:                 return;
fp@260:             }
fp@260: 
fp@656:             // init slaves
fp@656:             for (i = 0; i < master->slave_count; i++) {
fp@656:                 if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@656:                                 GFP_ATOMIC))) {
fp@656:                     EC_ERR("Failed to allocate slave %i!\n", i);
fp@656:                     ec_master_destroy_slaves(master);
fp@900:                     master->scan_busy = 0;
fp@656:                     wake_up_interruptible(&master->scan_queue);
fp@656:                     fsm->state = ec_fsm_master_state_error;
fp@656:                     return;
fp@656:                 }
fp@656: 
fp@656:                 if (ec_slave_init(slave, master, i, i + 1)) {
fp@656:                     // freeing of "slave" already done
fp@656:                     ec_master_destroy_slaves(master);
fp@900:                     master->scan_busy = 0;
fp@656:                     wake_up_interruptible(&master->scan_queue);
fp@656:                     fsm->state = ec_fsm_master_state_error;
fp@656:                     return;
fp@656:                 }
fp@656: 
fp@908:                 // do not force reconfiguration in operation mode to avoid
fp@908:                 // unnecesssary process data interruptions
fp@908:                 if (master->mode != EC_MASTER_MODE_OPERATION)
fp@908:                     slave->force_config = 1;
fp@908: 
fp@656:                 list_add_tail(&slave->list, &master->slaves);
fp@260:             }
fp@260: 
fp@904:             // broadcast clear all station addresses
fp@717:             ec_datagram_bwr(datagram, 0x0010, 2);
fp@717:             EC_WRITE_U16(datagram->data, 0x0000);
fp@717:             fsm->retries = EC_FSM_RETRIES;
fp@717:             fsm->state = ec_fsm_master_state_clear_addresses;
fp@656:             return;
fp@656:         }
fp@260:     }
fp@260: 
fp@853:     if (list_empty(&master->slaves)) {
fp@853:         fsm->state = ec_fsm_master_state_end;
fp@853:     } else {
fp@907:         // fetch state from first slave
fp@853:         fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@907:         ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
fp@907:                 0x0130, 2);
fp@853:         fsm->retries = EC_FSM_RETRIES;
fp@907:         fsm->state = ec_fsm_master_state_read_state;
fp@907:     }
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Check for pending SII write requests and process one.
fp@907:  * 
fp@872:  * \return non-zero, if an SII write request is processed.
fp@601:  */
fp@872: int ec_fsm_master_action_process_sii(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@601:         )
fp@601: {
fp@601:     ec_master_t *master = fsm->master;
fp@872:     ec_sii_write_request_t *request;
fp@601: 
fp@604:     // search the first request to be processed
fp@604:     while (1) {
fp@872:         down(&master->sii_sem);
fp@872:         if (list_empty(&master->sii_requests)) {
fp@872:             up(&master->sii_sem);
fp@604:             break;
fp@604:         }
fp@604:         // get first request
fp@872:         request = list_entry(master->sii_requests.next,
fp@872:                 ec_sii_write_request_t, list);
fp@601:         list_del_init(&request->list); // dequeue
fp@861:         request->state = EC_REQUEST_BUSY;
fp@872:         up(&master->sii_sem);
fp@601: 
fp@872:         // found pending SII write operation. execute it!
fp@607:         if (master->debug_level)
fp@906:             EC_DBG("Writing SII data to slave %u...\n",
fp@906:                     request->slave->ring_position);
fp@872:         fsm->sii_request = request;
fp@872:         fsm->sii_index = 0;
fp@754:         ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
fp@815:                 request->data, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fp@872:         fsm->state = ec_fsm_master_state_write_sii;
fp@601:         fsm->state(fsm); // execute immediately
fp@601:         return 1;
fp@601:     }
fp@601: 
fp@601:     return 0;
fp@601: }
fp@601: 
fp@601: /*****************************************************************************/
fp@601: 
fp@907: /** Check for pending Sdo requests and process one.
fp@907:  * 
fp@814:  * \return non-zero, if an Sdo request is processed.
fp@646:  */
fp@646: int ec_fsm_master_action_process_sdo(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@646:         )
fp@646: {
fp@646:     ec_master_t *master = fsm->master;
fp@849:     ec_master_sdo_request_t *request;
fp@858:     ec_sdo_request_t *req;
fp@646:     ec_slave_t *slave;
fp@646: 
fp@858:     // search for internal requests to be processed
fp@858:     list_for_each_entry(slave, &master->slaves, list) {
fp@858:         if (!slave->config)
fp@858:             continue;
fp@858:         list_for_each_entry(req, &slave->config->sdo_requests, list) {
fp@858:             if (req->state == EC_REQUEST_QUEUED) {
fp@880: 
fp@880:                 if (ec_sdo_request_timed_out(req)) {
fp@880:                     req->state = EC_REQUEST_FAILURE;
fp@880:                     if (master->debug_level)
fp@880:                         EC_DBG("Sdo request for slave %u timed out...\n",
fp@880:                                 slave->ring_position);
fp@880:                     continue;
fp@880:                 }
fp@858: 
fp@858:                 if (slave->current_state == EC_SLAVE_STATE_INIT ||
fp@858:                         slave->error_flag) {
fp@858:                     req->state = EC_REQUEST_FAILURE;
fp@858:                     continue;
fp@858:                 }
fp@858: 
fp@880:                 req->state = EC_REQUEST_BUSY;
fp@858:                 if (master->debug_level)
fp@858:                     EC_DBG("Processing Sdo request for slave %u...\n",
fp@858:                             slave->ring_position);
fp@858: 
fp@858:                 fsm->idle = 0;
fp@858:                 fsm->sdo_request = req;
fp@858:                 fsm->slave = slave;
fp@858:                 fsm->state = ec_fsm_master_state_sdo_request;
fp@859:                 ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
fp@858:                 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@858:                 return 1;
fp@858:             }
fp@858:         }
fp@858:     }
fp@858:     
fp@858:     // search the first external request to be processed
fp@646:     while (1) {
fp@646:         down(&master->sdo_sem);
fp@849:         if (list_empty(&master->slave_sdo_requests)) {
fp@646:             up(&master->sdo_sem);
fp@646:             break;
fp@646:         }
fp@646:         // get first request
fp@849:         request = list_entry(master->slave_sdo_requests.next,
fp@849:                 ec_master_sdo_request_t, list);
fp@646:         list_del_init(&request->list); // dequeue
fp@861:         request->req.state = EC_REQUEST_BUSY;
fp@646:         up(&master->sdo_sem);
fp@646: 
fp@831:         slave = request->slave;
fp@646:         if (slave->current_state == EC_SLAVE_STATE_INIT ||
fp@646:                 slave->error_flag) {
fp@849:             EC_ERR("Discarding Sdo request, slave %u not ready.\n",
fp@646:                     slave->ring_position);
fp@849:             request->req.state = EC_REQUEST_FAILURE;
fp@646:             wake_up(&master->sdo_queue);
fp@646:             continue;
fp@646:         }
fp@646: 
fp@849:         // Found pending Sdo request. Execute it!
fp@646:         if (master->debug_level)
fp@906:             EC_DBG("Processing Sdo request for slave %u...\n",
fp@646:                     slave->ring_position);
fp@646: 
fp@849:         // Start uploading Sdo
fp@650:         fsm->idle = 0;
fp@858:         fsm->sdo_request = &request->req;
fp@858:         fsm->slave = slave;
fp@646:         fsm->state = ec_fsm_master_state_sdo_request;
fp@859:         ec_fsm_coe_transfer(&fsm->fsm_coe, slave, &request->req);
fp@646:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@646:         return 1;
fp@646:     }
fp@646: 
fp@646:     return 0;
fp@646: }
fp@646: 
fp@646: /*****************************************************************************/
fp@646: 
fp@907: /** Master action: IDLE.
fp@907:  *
fp@907:  * Does secondary work.
fp@907:  */
fp@907: void ec_fsm_master_action_idle(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@656:     ec_slave_t *slave;
fp@304: 
fp@858:     // Check for pending Sdo requests
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return;
fp@646: 
fp@442:     if (master->mode == EC_MASTER_MODE_IDLE) {
fp@442: 
fp@814:         // check, if slaves have an Sdo dictionary to read out.
fp@442:         list_for_each_entry(slave, &master->slaves, list) {
fp@834:             if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@442:                 || slave->sdo_dictionary_fetched
fp@442:                 || slave->current_state == EC_SLAVE_STATE_INIT
fp@442:                 || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
fp@442:                 || slave->error_flag) continue;
fp@442: 
fp@442:             if (master->debug_level) {
fp@905:                 EC_DBG("Fetching Sdo dictionary from slave %u.\n",
fp@442:                        slave->ring_position);
fp@442:             }
fp@442: 
fp@442:             slave->sdo_dictionary_fetched = 1;
fp@442: 
fp@814:             // start fetching Sdo dictionary
fp@650:             fsm->idle = 0;
fp@441:             fsm->slave = slave;
fp@905:             fsm->state = ec_fsm_master_state_sdo_dictionary;
fp@442:             ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
fp@441:             ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@441:             return;
fp@441:         }
fp@442: 
fp@872:         // check for pending SII write operations.
fp@872:         if (ec_fsm_master_action_process_sii(fsm))
fp@872:             return; // SII write request found
fp@304:     }
fp@304: 
fp@528:     fsm->state = ec_fsm_master_state_end;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@907: /** Master action: Get state of next slave.
fp@907:  */
fp@907: void ec_fsm_master_action_next_slave_state(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
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@907:         // fetch state from next slave
fp@650:         fsm->idle = 1;
fp@637:         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
fp@815:         ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
fp@293:                          0x0130, 2);
fp@505:         fsm->retries = EC_FSM_RETRIES;
fp@907:         fsm->state = ec_fsm_master_state_read_state;
fp@907:         return;
fp@907:     }
fp@907: 
fp@907:     // all slaves processed
fp@907:     ec_fsm_master_action_idle(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master action: Configure.
fp@907:  */
fp@907: void ec_fsm_master_action_configure(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@907:     ec_slave_t *slave = fsm->slave;
fp@907: 
fp@907:     // Does the slave have to be configured?
fp@907:     if (!slave->error_flag
fp@907:             && (slave->current_state != slave->requested_state
fp@908:                 || slave->force_config)) {
fp@907:         // Start slave configuration, if it is allowed.
fp@907:         down(&master->config_sem);
fp@907:         if (!master->allow_config) {
fp@907:             up(&master->config_sem);
fp@907:         } else {
fp@907:             master->config_busy = 1;
fp@907:             up(&master->config_sem);
fp@907: 
fp@907:             if (master->debug_level) {
fp@908:                 char old_state[EC_STATE_STRING_SIZE],
fp@908:                      new_state[EC_STATE_STRING_SIZE];
fp@907:                 ec_state_string(slave->current_state, old_state);
fp@908:                 ec_state_string(slave->requested_state, new_state);
fp@908:                 EC_DBG("Changing state of slave %u from %s to %s%s.\n",
fp@908:                         slave->ring_position, old_state, new_state,
fp@908:                         slave->force_config ? " (forced)" : "");
fp@907:             }
fp@907: 
fp@908:             // configuration will be done immediately; therefore reset the
fp@908:             // force flag
fp@908:             slave->force_config = 0;
fp@908: 
fp@907:             fsm->idle = 0;
fp@907:             fsm->state = ec_fsm_master_state_configure_slave;
fp@907:             ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fp@907:             fsm->state(fsm); // execute immediately
fp@907:             return;
fp@907:         }
fp@907:     }
fp@907: 
fp@907:     // slave has error flag set; process next one
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master action: Acknowledge.
fp@907:  */
fp@907: void ec_fsm_master_action_acknowledge(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_slave_t *slave = fsm->slave;
fp@907: 
fp@907:     if (!slave->error_flag) {
fp@907:         // Check, if new slave state has to be acknowledged
fp@907:         if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@907:             fsm->idle = 0;
fp@907:             fsm->state = ec_fsm_master_state_acknowledge;
fp@907:             ec_fsm_change_ack(&fsm->fsm_change, slave);
fp@907:             fsm->state(fsm); // execute immediately
fp@907:             return;
fp@907:         }
fp@907: 
fp@907:         // No acknowlegde necessary; check for configuration
fp@907:         ec_fsm_master_action_configure(fsm);
fp@907:         return;
fp@907:     }
fp@907: 
fp@907:     // slave has error flag set; process next one
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: READ STATE.
fp@907:  *
fp@907:  * Fetches the AL state of a slave.
fp@907:  */
fp@907: void ec_fsm_master_state_read_state(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@260: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@907:         EC_ERR("Failed to receive AL state datagram for slave %u"
fp@713:                 " (datagram state %i)\n",
fp@713:                 slave->ring_position, datagram->state);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // did the slave not respond to its station address?
fp@906:     if (datagram->working_counter != 1) {
fp@906:         if (!slave->error_flag) {
fp@906:             slave->error_flag = 1;
fp@906:             if (fsm->master->debug_level)
fp@906:                 EC_DBG("Slave %u did not respond to state query.\n",
fp@906:                         fsm->slave->ring_position);
fp@906:         }
fp@906:         fsm->topology_change_pending = 1;
fp@906:         fsm->state = ec_fsm_master_state_error;
fp@906:         return;
fp@906:     }
fp@906: 
fp@907:     // A single slave responded
fp@907:     ec_slave_set_state(slave, EC_READ_U8(datagram->data));
fp@907:     ec_fsm_master_action_acknowledge(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: ACKNOWLEDGE.
fp@907:  */
fp@907: void ec_fsm_master_state_acknowledge(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@454: {
fp@454:     ec_slave_t *slave = fsm->slave;
fp@454: 
fp@907:     if (ec_fsm_change_exec(&fsm->fsm_change))
fp@907:         return;
fp@454: 
fp@454:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@454:         fsm->slave->error_flag = 1;
fp@907:         EC_ERR("Failed to acknowledge state change on slave %u.\n",
fp@454:                slave->ring_position);
fp@907:     }
fp@907: 
fp@907:     ec_fsm_master_action_configure(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: CLEAR ADDRESSES.
fp@907:  */
fp@717: void ec_fsm_master_state_clear_addresses(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@717:         )
fp@717: {
fp@717:     ec_master_t *master = fsm->master;
fp@717:     ec_datagram_t *datagram = fsm->datagram;
fp@717: 
fp@717:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@717:         return;
fp@717: 
fp@717:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@717:         EC_ERR("Failed to receive address clearing datagram (state %i).\n",
fp@717:                 datagram->state);
fp@900:         master->scan_busy = 0;
fp@794:         wake_up_interruptible(&master->scan_queue);
fp@717:         fsm->state = ec_fsm_master_state_error;
fp@717:         return;
fp@717:     }
fp@717: 
fp@717:     if (datagram->working_counter != master->slave_count) {
fp@717:         EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
fp@717:                 datagram->working_counter, master->slave_count);
fp@717:     }
fp@717: 
fp@717:     EC_INFO("Scanning bus.\n");
fp@717: 
fp@717:     // begin scanning of slaves
fp@717:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@907:     fsm->state = ec_fsm_master_state_scan_slave;
fp@830:     ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
fp@830:     ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fp@717: }
fp@717: 
fp@717: /*****************************************************************************/
fp@717: 
fp@907: /** Master state: SCAN SLAVE.
fp@907:  *
fp@652:  * Executes the sub-statemachine for the scanning of a slave.
fp@652:  */
fp@907: void ec_fsm_master_state_scan_slave(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@652:         )
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@637:     ec_slave_t *slave = fsm->slave;
fp@325: 
fp@907:     if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
fp@528:         return;
fp@325: 
fp@715: #ifdef EC_EOE
fp@834:     if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
fp@661:         // create EoE handler for this slave
fp@661:         ec_eoe_t *eoe;
fp@661:         if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
fp@661:             EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
fp@661:                     slave->ring_position);
fp@900:         } else if (ec_eoe_init(eoe, slave)) {
fp@661:             EC_ERR("Failed to init EoE handler for slave %u!\n",
fp@661:                     slave->ring_position);
fp@661:             kfree(eoe);
fp@900:         } else {
fp@661:             list_add_tail(&eoe->list, &master->eoe_handlers);
fp@661:         }
fp@661:     }
fp@715: #endif
fp@661: 
fp@325:     // another slave to fetch?
fp@637:     if (slave->list.next != &master->slaves) {
fp@637:         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
fp@830:         ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
fp@830:         ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fp@325:         return;
fp@325:     }
fp@325: 
fp@652:     EC_INFO("Bus scanning completed in %u ms.\n",
fp@652:             (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
fp@661: 
fp@900:     master->scan_busy = 0;
fp@900:     wake_up_interruptible(&master->scan_queue);
fp@900: 
fp@792:     // Attach slave configurations
fp@792:     ec_master_attach_slave_configs(master);
fp@792: 
fp@716: #ifdef EC_EOE
fp@661:     // check if EoE processing has to be started
fp@661:     ec_master_eoe_start(master);
fp@715: #endif
fp@661: 
fp@528:     fsm->state = ec_fsm_master_state_end;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Master state: CONFIGURE SLAVE.
fp@907:  *
fp@907:  * Starts configuring a slave.
fp@907:  */
fp@907: void ec_fsm_master_state_configure_slave(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@907: 
fp@907:     if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
fp@907:         return;
fp@907: 
fp@907:     // configuration finished
fp@907:     master->config_busy = 0;
fp@907:     wake_up_interruptible(&master->config_queue);
fp@830: 
fp@900:     if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
fp@900:         // TODO: mark slave_config as failed.
fp@900:     }
fp@656: 
fp@907:     fsm->idle = 1;
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: WRITE SII.
fp@907:  */
fp@872: void ec_fsm_master_state_write_sii(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@269: {
fp@601:     ec_master_t *master = fsm->master;
fp@872:     ec_sii_write_request_t *request = fsm->sii_request;
fp@601:     ec_slave_t *slave = request->slave;
fp@269: 
fp@435:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@601:         slave->error_flag = 1;
fp@872:         EC_ERR("Failed to write SII data to slave %i.\n",
fp@607:                 slave->ring_position);
fp@649:         request->state = EC_REQUEST_FAILURE;
fp@872:         wake_up(&master->sii_queue);
fp@872:         fsm->state = ec_fsm_master_state_error;
fp@872:         return;
fp@872:     }
fp@872: 
fp@872:     fsm->sii_index++;
fp@872:     if (fsm->sii_index < request->word_size) {
fp@601:         ec_fsm_sii_write(&fsm->fsm_sii, slave,
fp@872:                 request->word_offset + fsm->sii_index,
fp@872:                 request->data + fsm->sii_index * 2,
fp@815:                 EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fp@433:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@872:     // finished writing SII
fp@607:     if (master->debug_level)
fp@872:         EC_DBG("Finished writing %u words of SII data to slave %u.\n",
fp@754:                 request->word_size, slave->ring_position);
fp@861:     request->state = EC_REQUEST_SUCCESS;
fp@872:     wake_up(&master->sii_queue);
fp@872: 
fp@872:     // TODO: Evaluate new SII contents!
fp@872: 
fp@872:     // check for another SII write request
fp@872:     if (ec_fsm_master_action_process_sii(fsm))
fp@601:         return; // processing another request
fp@601: 
fp@637:     fsm->state = ec_fsm_master_state_end;
fp@419: }
fp@419: 
fp@419: /*****************************************************************************/
fp@419: 
fp@907: /** Master state: SDO DICTIONARY.
fp@907:  */
fp@905: void ec_fsm_master_state_sdo_dictionary(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@905:         )
fp@419: {
fp@419:     ec_slave_t *slave = fsm->slave;
fp@419:     ec_master_t *master = fsm->master;
fp@419: 
fp@436:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@436: 
fp@436:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@419:         return;
fp@419:     }
fp@419: 
fp@814:     // 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@814:         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@637:     fsm->state = ec_fsm_master_state_end;
fp@269: }
fp@269: 
fp@430: /*****************************************************************************/
fp@430: 
fp@907: /** Master state: SDO REQUEST.
fp@907:  */
fp@907: void ec_fsm_master_state_sdo_request(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@430: {
fp@430:     ec_master_t *master = fsm->master;
fp@858:     ec_sdo_request_t *request = fsm->sdo_request;
fp@436: 
fp@436:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@436: 
fp@436:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@858:         EC_DBG("Failed to process Sdo request for slave %u.\n",
fp@646:                 fsm->slave->ring_position);
fp@858:         request->state = EC_REQUEST_FAILURE;
fp@646:         wake_up(&master->sdo_queue);
fp@646:         fsm->state = ec_fsm_master_state_error;
fp@646:         return;
fp@646:     }
fp@646: 
fp@814:     // Sdo request finished 
fp@861:     request->state = EC_REQUEST_SUCCESS;
fp@646:     wake_up(&master->sdo_queue);
fp@646: 
fp@646:     if (master->debug_level)
fp@858:         EC_DBG("Finished Sdo request for slave %u.\n",
fp@646:                 fsm->slave->ring_position);
fp@646: 
fp@814:     // check for another Sdo request
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return; // processing another request
fp@430: 
fp@637:     fsm->state = ec_fsm_master_state_end;
fp@430: }
fp@430: 
fp@446: /*****************************************************************************/
fp@446: 
fp@907: /** State: ERROR.
fp@907:  */
fp@528: void ec_fsm_master_state_error(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@528:         )
fp@528: {
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@907: /** State: END.
fp@907:  */
fp@907: void ec_fsm_master_state_end(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@528: }
fp@528: 
fp@528: /*****************************************************************************/