fp@1739: /******************************************************************************
fp@1739:  *
fp@1739:  *  $Id$
fp@1739:  *
fp@1739:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1739:  *
fp@1739:  *  This file is part of the IgH EtherCAT Master.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1739:  *  and/or modify it under the terms of the GNU General Public License
fp@1739:  *  as published by the Free Software Foundation; either version 2 of the
fp@1739:  *  License, or (at your option) any later version.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1739:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1739:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1739:  *  GNU General Public License for more details.
fp@1739:  *
fp@1739:  *  You should have received a copy of the GNU General Public License
fp@1739:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1739:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1739:  *
fp@1739:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1739:  *  charge under condition of compatibility of product made by
fp@1739:  *  Licensee. People intending to distribute/sell products based on the
fp@1739:  *  code, have to sign an agreement to guarantee that products using
fp@1739:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1739:  *  EtherCAT specification (which are released themselves as an open
fp@1739:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1739:  *  Technology, IP and trade marks.
fp@1739:  *
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \file
fp@1739:    EtherCAT finite state machines.
fp@1739: */
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: #include "globals.h"
fp@1739: #include "master.h"
fp@1739: #include "mailbox.h"
fp@1739: #include "fsm_master.h"
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: void ec_fsm_master_state_start(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_read_states(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_end(ec_fsm_master_t *);
fp@1739: void ec_fsm_master_state_error(ec_fsm_master_t *);
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Constructor.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
fp@1739:         ec_master_t *master, /**< EtherCAT master */
fp@1739:         ec_datagram_t *datagram /**< datagram object to use */
fp@1739:         )
fp@1739: {
fp@1739:     fsm->master = master;
fp@1739:     fsm->datagram = datagram;
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739:     fsm->slaves_responding = 0;
fp@1739:     fsm->topology_change_pending = 0;
fp@1739:     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@1739:     fsm->validate = 0;
fp@1739: 
fp@1739:     // init sub-state-machines
fp@1739:     ec_fsm_slave_init(&fsm->fsm_slave, fsm->datagram);
fp@1739:     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
fp@1739:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@1739:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Destructor.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     // clear sub-state machines
fp@1739:     ec_fsm_slave_clear(&fsm->fsm_slave);
fp@1739:     ec_fsm_sii_clear(&fsm->fsm_sii);
fp@1739:     ec_fsm_change_clear(&fsm->fsm_change);
fp@1739:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Executes the current state of the state machine.
fp@1739:    If the state machine's datagram is not sent or received yet, the execution
fp@1739:    of the state machine is delayed to the next cycle.
fp@1739:    \return false, if state machine has terminated
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@1739:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@1739:         // datagram was not sent or received yet.
fp@1739:         return ec_fsm_master_running(fsm);
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state(fsm);
fp@1739:     return ec_fsm_master_running(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \return false, if state machine has terminated
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_master_running(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     return fsm->state != ec_fsm_master_state_end
fp@1739:         && fsm->state != ec_fsm_master_state_error;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \return true, if the master state machine terminated gracefully
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_master_success(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     return fsm->state == ec_fsm_master_state_end;
fp@1739: }
fp@1739: 
fp@1739: /******************************************************************************
fp@1739:  *  operation/idle state machine
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: START.
fp@1739:    Starts with getting slave count and slave states.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
fp@1739: {
fp@1739:     ec_datagram_brd(fsm->datagram, 0x0130, 2);
fp@1739:     ec_master_queue_datagram(fsm->master, fsm->datagram);
fp@1739:     fsm->state = ec_fsm_master_state_broadcast;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: BROADCAST.
fp@1739:    Processes the broadcast read slave count and slaves states.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     unsigned int i;
fp@1739:     ec_slave_t *slave;
fp@1739:     ec_master_t *master = fsm->master;
fp@1739: 
fp@1739:     if (datagram->state == EC_DATAGRAM_TIMED_OUT) {
fp@1739:         // always retry
fp@1739:         ec_master_queue_datagram(fsm->master, fsm->datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) { // EC_DATAGRAM_ERROR
fp@1739:         // link is down
fp@1739:         fsm->slaves_responding = 0;
fp@1739:         list_for_each_entry(slave, &master->slaves, list) {
fp@1739:             slave->online = 0;
fp@1739:         }
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // bus topology change?
fp@1739:     if (datagram->working_counter != fsm->slaves_responding) {
fp@1739:         fsm->topology_change_pending = 1;
fp@1739:         fsm->slaves_responding = datagram->working_counter;
fp@1739: 
fp@1739:         EC_INFO("%i slave%s responding.\n",
fp@1739:                 fsm->slaves_responding,
fp@1739:                 fsm->slaves_responding == 1 ? "" : "s");
fp@1739: 
fp@1739:         if (master->mode == EC_MASTER_MODE_OPERATION) {
fp@1739:             if (fsm->slaves_responding == master->slave_count) {
fp@1739:                 fsm->validate = 1; // start validation later
fp@1739:             }
fp@1739:             else {
fp@1739:                 EC_WARN("Invalid slave count. Bus in tainted state.\n");
fp@1739:             }
fp@1739:         }
fp@1739:     }
fp@1739: 
fp@1739:     // slave states changed?
fp@1739:     if (EC_READ_U8(datagram->data) != fsm->slave_states) {
fp@1739:         char states[EC_STATE_STRING_SIZE];
fp@1739:         fsm->slave_states = EC_READ_U8(datagram->data);
fp@1739:         ec_state_string(fsm->slave_states, states);
fp@1739:         EC_INFO("Slave states: %s.\n", states);
fp@1739:     }
fp@1739: 
fp@1739:     // topology change in idle mode: clear all slaves and scan the bus
fp@1739:     if (fsm->topology_change_pending &&
fp@1739:             master->mode == EC_MASTER_MODE_IDLE) {
fp@1739:         fsm->topology_change_pending = 0;
fp@1739: 
fp@1739:         ec_master_eoe_stop(master);
fp@1739:         ec_master_destroy_slaves(master);
fp@1739: 
fp@1739:         master->slave_count = datagram->working_counter;
fp@1739: 
fp@1739:         if (!master->slave_count) {
fp@1739:             // no slaves present -> finish state machine.
fp@1739:             fsm->state = ec_fsm_master_state_end;
fp@1739:             return;
fp@1739:         }
fp@1739: 
fp@1739:         // init slaves
fp@1739:         for (i = 0; i < master->slave_count; i++) {
fp@1739:             if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@1739:                                                  GFP_ATOMIC))) {
fp@1739:                 EC_ERR("Failed to allocate slave %i!\n", i);
fp@1739:                 ec_master_destroy_slaves(master);
fp@1739:                 fsm->state = ec_fsm_master_state_error;
fp@1739:                 return;
fp@1739:             }
fp@1739: 
fp@1739:             if (ec_slave_init(slave, master, i, i + 1)) {
fp@1739:                 // freeing of "slave" already done
fp@1739:                 ec_master_destroy_slaves(master);
fp@1739:                 fsm->state = ec_fsm_master_state_error;
fp@1739:                 return;
fp@1739:             }
fp@1739: 
fp@1739:             list_add_tail(&slave->list, &master->slaves);
fp@1739:         }
fp@1739: 
fp@1739:         EC_INFO("Scanning bus.\n");
fp@1739: 
fp@1739:         // begin scanning of slaves
fp@1739:         fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@1739:         ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
fp@1739:         ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
fp@1739:         fsm->state = ec_fsm_master_state_scan_slaves;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // fetch state from each slave
fp@1739:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@1739:     ec_datagram_nprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
fp@1739:     ec_master_queue_datagram(master, fsm->datagram);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_master_state_read_states;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master action: PROC_STATES.
fp@1739:    Processes the slave states.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
fp@1739:                                          /**< master state machine */
fp@1739:                                          )
fp@1739: {
fp@1739:     ec_master_t *master = fsm->master;
fp@1739:     ec_slave_t *slave;
fp@1739:     char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
fp@1739: 
fp@1739:     // check if any slaves are not in the state, they're supposed to be
fp@1739:     list_for_each_entry(slave, &master->slaves, list) {
fp@1739:         if (slave->error_flag
fp@1739:             || !slave->online
fp@1739:             || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
fp@1739:             || (slave->current_state == slave->requested_state
fp@1739:                 && slave->self_configured)) continue;
fp@1739: 
fp@1739:         if (master->debug_level) {
fp@1739:             ec_state_string(slave->current_state, old_state);
fp@1739:             if (slave->current_state != slave->requested_state) {
fp@1739:                 ec_state_string(slave->requested_state, new_state);
fp@1739:                 EC_DBG("Changing state of slave %i (%s -> %s).\n",
fp@1739:                        slave->ring_position, old_state, new_state);
fp@1739:             }
fp@1739:             else if (!slave->self_configured) {
fp@1739:                 EC_DBG("Reconfiguring slave %i (%s).\n",
fp@1739:                        slave->ring_position, old_state);
fp@1739:             }
fp@1739:         }
fp@1739: 
fp@1739:         fsm->slave = slave;
fp@1739:         ec_fsm_slave_start_conf(&fsm->fsm_slave, slave);
fp@1739:         ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
fp@1739:         fsm->state = ec_fsm_master_state_configure_slave;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // Check, if EoE processing has to be started
fp@1739:     ec_master_eoe_start(master);
fp@1739: 
fp@1739:     if (master->mode == EC_MASTER_MODE_IDLE) {
fp@1739: 
fp@1739:         // Check for a pending SDO request
fp@1739:         if (master->sdo_seq_master != master->sdo_seq_user) {
fp@1739:             if (master->debug_level)
fp@1739:                 EC_DBG("Processing SDO request...\n");
fp@1739:             slave = master->sdo_request->sdo->slave;
fp@1739:             if (slave->current_state == EC_SLAVE_STATE_INIT
fp@1739:                 || !slave->online) {
fp@1739:                 EC_ERR("Failed to process SDO request, slave %i not ready.\n",
fp@1739:                        slave->ring_position);
fp@1739:                 master->sdo_request->return_code = -1;
fp@1739:                 master->sdo_seq_master++;
fp@1739:             }
fp@1739:             else {
fp@1739:                 // start uploading SDO
fp@1739:                 fsm->slave = slave;
fp@1739:                 fsm->state = ec_fsm_master_state_sdo_request;
fp@1739:                 fsm->sdo_request = master->sdo_request;
fp@1739:                 ec_fsm_coe_upload(&fsm->fsm_coe, slave, fsm->sdo_request);
fp@1739:                 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@1739:                 return;
fp@1739:             }
fp@1739:         }
fp@1739: 
fp@1739:         // check, if slaves have an SDO dictionary to read out.
fp@1739:         list_for_each_entry(slave, &master->slaves, list) {
fp@1739:             if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
fp@1739:                 || slave->sdo_dictionary_fetched
fp@1739:                 || slave->current_state == EC_SLAVE_STATE_INIT
fp@1739:                 || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
fp@1739:                 || !slave->online
fp@1739:                 || slave->error_flag) continue;
fp@1739: 
fp@1739:             if (master->debug_level) {
fp@1739:                 EC_DBG("Fetching SDO dictionary from slave %i.\n",
fp@1739:                        slave->ring_position);
fp@1739:             }
fp@1739: 
fp@1739:             slave->sdo_dictionary_fetched = 1;
fp@1739: 
fp@1739:             // start fetching SDO dictionary
fp@1739:             fsm->slave = slave;
fp@1739:             fsm->state = ec_fsm_master_state_sdodict;
fp@1739:             ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
fp@1739:             ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@1739:             return;
fp@1739:         }
fp@1739: 
fp@1739:         // check for pending EEPROM write operations.
fp@1739:         list_for_each_entry(slave, &master->slaves, list) {
fp@1739:             if (!slave->new_eeprom_data) continue;
fp@1739: 
fp@1739:             if (!slave->online || slave->error_flag) {
fp@1739:                 kfree(slave->new_eeprom_data);
fp@1739:                 slave->new_eeprom_data = NULL;
fp@1739:                 EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
fp@1739:                        slave->ring_position);
fp@1739:                 continue;
fp@1739:             }
fp@1739: 
fp@1739:             // found pending EEPROM write operation. execute it!
fp@1739:             EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fp@1739:             fsm->slave = slave;
fp@1739:             fsm->sii_offset = 0x0000;
fp@1739:             ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@1739:                              slave->new_eeprom_data, EC_FSM_SII_NODE);
fp@1739:             fsm->state = ec_fsm_master_state_write_eeprom;
fp@1739:             fsm->state(fsm); // execute immediately
fp@1739:             return;
fp@1739:         }
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state = ec_fsm_master_state_end;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master action: Get state of next slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
fp@1739:                                            /**< master state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->master;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     // is there another slave to query?
fp@1739:     if (slave->list.next != &master->slaves) {
fp@1739:         // process next slave
fp@1739:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@1739:         ec_datagram_nprd(fsm->datagram, fsm->slave->station_address,
fp@1739:                          0x0130, 2);
fp@1739:         ec_master_queue_datagram(master, fsm->datagram);
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1739:         fsm->state = ec_fsm_master_state_read_states;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // all slave states read
fp@1739: 
fp@1739:     // check, if a bus validation has to be done
fp@1739:     if (fsm->validate) {
fp@1739:         fsm->validate = 0;
fp@1739:         list_for_each_entry(slave, &master->slaves, list) {
fp@1739:             if (slave->online) continue;
fp@1739: 
fp@1739:             // At least one slave is offline. validate!
fp@1739:             EC_INFO("Validating bus.\n");
fp@1739:             fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@1739:             fsm->state = ec_fsm_master_state_validate_vendor;
fp@1739:             ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
fp@1739:             ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@1739:             return;
fp@1739:         }
fp@1739:     }
fp@1739: 
fp@1739:     ec_fsm_master_action_process_states(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: READ STATES.
fp@1739:    Fetches the AL- and online state of a slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     uint8_t new_state;
fp@1739: 
fp@1739:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
fp@1739:         ec_master_queue_datagram(fsm->master, fsm->datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         EC_ERR("Failed to receive AL state datagram for slave %i!\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // did the slave not respond to its station address?
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         if (slave->online) {
fp@1739:             slave->online = 0;
fp@1739:             if (slave->master->debug_level)
fp@1739:                 EC_DBG("Slave %i: offline.\n", slave->ring_position);
fp@1739:         }
fp@1739:         ec_fsm_master_action_next_slave_state(fsm);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // slave responded
fp@1739:     new_state = EC_READ_U8(datagram->data);
fp@1739:     if (!slave->online) { // slave was offline before
fp@1739:         slave->online = 1;
fp@1739:         slave->error_flag = 0; // clear error flag
fp@1739:         slave->current_state = new_state;
fp@1739:         if (slave->master->debug_level) {
fp@1739:             char cur_state[EC_STATE_STRING_SIZE];
fp@1739:             ec_state_string(slave->current_state, cur_state);
fp@1739:             EC_DBG("Slave %i: online (%s).\n",
fp@1739:                    slave->ring_position, cur_state);
fp@1739:         }
fp@1739:     }
fp@1739:     else if (new_state != slave->current_state) {
fp@1739:         if (slave->master->debug_level) {
fp@1739:             char old_state[EC_STATE_STRING_SIZE],
fp@1739:                 cur_state[EC_STATE_STRING_SIZE];
fp@1739:             ec_state_string(slave->current_state, old_state);
fp@1739:             ec_state_string(new_state, cur_state);
fp@1739:             EC_DBG("Slave %i: %s -> %s.\n",
fp@1739:                    slave->ring_position, old_state, cur_state);
fp@1739:         }
fp@1739:         slave->current_state = new_state;
fp@1739:     }
fp@1739: 
fp@1739:     // check, if new slave state has to be acknowledged
fp@1739:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
fp@1739:         ec_fsm_change_ack(&fsm->fsm_change, slave);
fp@1739:         ec_fsm_change_exec(&fsm->fsm_change);
fp@1739:         fsm->state = ec_fsm_master_state_acknowledge;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     ec_fsm_master_action_next_slave_state(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: ACKNOWLEDGE
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         EC_ERR("Failed to acknowledge state change on slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     ec_fsm_master_action_next_slave_state(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: VALIDATE_VENDOR.
fp@1739:    Validates the vendor ID of a slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         EC_ERR("Failed to validate vendor ID of slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
fp@1739:         EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // vendor ID is ok. check product code.
fp@1739:     fsm->state = ec_fsm_master_state_validate_product;
fp@1739:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
fp@1739:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master action: ADDRESS.
fp@1739:    Looks for slave, that have lost their configuration and writes
fp@1739:    their station address, so that they can be reconfigured later.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739: 
fp@1739:     while (fsm->slave->online) {
fp@1739:         if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@1739:             fsm->state = ec_fsm_master_state_start;
fp@1739:             fsm->state(fsm); // execute immediately
fp@1739:             return;
fp@1739:         }
fp@1739:         // check next slave
fp@1739:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@1739:     }
fp@1739: 
fp@1739:     if (fsm->master->debug_level)
fp@1739:         EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
fp@1739: 
fp@1739:     // write station address
fp@1739:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@1739:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@1739:     ec_master_queue_datagram(fsm->master, datagram);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_master_state_rewrite_addresses;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: VALIDATE_PRODUCT.
fp@1739:    Validates the product ID of a slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         EC_ERR("Failed to validate product code of slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
fp@1739:         EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
fp@1739:         EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
fp@1739:                EC_READ_U32(fsm->fsm_sii.value));
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // have all states been validated?
fp@1739:     if (slave->list.next == &fsm->master->slaves) {
fp@1739:         fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
fp@1739:         // start writing addresses to offline slaves
fp@1739:         ec_fsm_master_action_addresses(fsm);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // validate next slave
fp@1739:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@1739:     fsm->state = ec_fsm_master_state_validate_vendor;
fp@1739:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
fp@1739:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: REWRITE ADDRESS.
fp@1739:    Checks, if the new station address has been written to the slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
fp@1739:                                      /**< master state machine */
fp@1739:                                      )
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739: 
fp@1739:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
fp@1739:         ec_master_queue_datagram(fsm->master, fsm->datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         EC_ERR("Failed to receive address datagram for slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         EC_ERR("Failed to write station address - slave %i did not respond.\n",
fp@1739:                slave->ring_position);
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@1739:         fsm->state = ec_fsm_master_state_start;
fp@1739:         fsm->state(fsm); // execute immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // check next slave
fp@1739:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@1739:     // Write new station address to slave
fp@1739:     ec_fsm_master_action_addresses(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: SCAN SLAVES.
fp@1739:    Executes the sub-statemachine for the scanning of a slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->master;
fp@1739:     ec_slave_t *slave;
fp@1739: 
fp@1739:     if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave state machine
fp@1739:         return;
fp@1739: 
fp@1739:     // another slave to fetch?
fp@1739:     if (fsm->slave->list.next != &master->slaves) {
fp@1739:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@1739:         ec_fsm_slave_start_scan(&fsm->fsm_slave, fsm->slave);
fp@1739:         ec_fsm_slave_exec(&fsm->fsm_slave); // execute immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     EC_INFO("Bus scanning completed.\n");
fp@1739: 
fp@1739:     ec_master_calc_addressing(master);
fp@1739: 
fp@1739:     // set initial states of all slaves to PREOP to make mailbox
fp@1739:     // communication possible
fp@1739:     list_for_each_entry(slave, &master->slaves, list) {
fp@1739:         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state = ec_fsm_master_state_end;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: CONFIGURE SLAVES.
fp@1739:    Starts configuring a slave.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
fp@1739:                                    /**< master state machine */
fp@1739:                                    )
fp@1739: {
fp@1739:     if (ec_fsm_slave_exec(&fsm->fsm_slave)) // execute slave's state machine
fp@1739:         return;
fp@1739: 
fp@1739:     ec_fsm_master_action_process_states(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: WRITE EEPROM.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         EC_ERR("Failed to write EEPROM contents to slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         kfree(slave->new_eeprom_data);
fp@1739:         slave->new_eeprom_data = NULL;
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     fsm->sii_offset++;
fp@1739:     if (fsm->sii_offset < slave->new_eeprom_size) {
fp@1739:         ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@1739:                          slave->new_eeprom_data + fsm->sii_offset,
fp@1739:                          EC_FSM_SII_NODE);
fp@1739:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // finished writing EEPROM
fp@1739:     EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
fp@1739:     kfree(slave->new_eeprom_data);
fp@1739:     slave->new_eeprom_data = NULL;
fp@1739: 
fp@1739:     // TODO: Evaluate new EEPROM contents!
fp@1739: 
fp@1739:     // restart master state machine.
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739:     fsm->state(fsm); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: SDODICT.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_master_t *master = fsm->master;
fp@1739: 
fp@1739:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // SDO dictionary fetching finished
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1739:         unsigned int sdo_count, entry_count;
fp@1739:         ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
fp@1739:         EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
fp@1739:                sdo_count, entry_count, slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     // restart master state machine.
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739:     fsm->state(fsm); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Master state: SDO REQUEST.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->master;
fp@1739:     ec_sdo_request_t *request = fsm->sdo_request;
fp@1739: 
fp@1739:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1739:         request->return_code = -1;
fp@1739:         master->sdo_seq_master++;
fp@1739:         fsm->state = ec_fsm_master_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // SDO dictionary fetching finished
fp@1739: 
fp@1739:     request->return_code = 1;
fp@1739:     master->sdo_seq_master++;
fp@1739: 
fp@1739:     // restart master state machine.
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739:     fsm->state(fsm); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    State: ERROR.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_error(
fp@1739:         ec_fsm_master_t *fsm /**< master state machine */
fp@1739:         )
fp@1739: {
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    State: END.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
fp@1739: {
fp@1739:     fsm->state = ec_fsm_master_state_start;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: