fp@830: /******************************************************************************
fp@830:  *
fp@830:  *  $Id$
fp@830:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@830:  *
fp@830:  *  This file is part of the IgH EtherCAT Master.
fp@830:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@830:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@830:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@830:  *
fp@830:  *****************************************************************************/
fp@830: 
fp@1064: /** \file
fp@1064:  *
fp@1064:  * EtherCAT slave configuration state machine.
fp@1064:  */
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1436: #include <asm/div64.h>
fp@1436: 
fp@830: #include "globals.h"
fp@830: #include "master.h"
fp@830: #include "mailbox.h"
fp@830: #include "slave_config.h"
fp@830: #include "fsm_slave_config.h"
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1925: /** Maximum clock difference (in ns) before going to SAFEOP.
fp@1925:  *
fp@1925:  * Wait for DC time difference to drop under this absolute value before
fp@1925:  * requesting SAFEOP.
fp@1925:  */
fp@1925: #define EC_DC_MAX_SYNC_DIFF_NS 5000
fp@1925: 
fp@1925: /** Maximum time (in ms) to wait for clock discipline.
fp@1925:  */
fp@1925: #define EC_DC_SYNC_WAIT_MS 5000
fp@1925: 
fp@1925: /** Time offset (in ns), that is added to cyclic start time.
fp@1925:  */
fp@1925: #define EC_DC_START_OFFSET 100000000ULL
fp@1889: 
fp@1889: /*****************************************************************************/
fp@1889: 
fp@830: void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
fp@1342: void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *);
fp@1407: void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
fp@1337: void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
fp@1844: void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
fp@1509: void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
fp@1509: void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
fp@888: void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
fp@1174: void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
fp@1392: void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *);
fp@1925: void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
fp@1392: void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
fp@1392: void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
fp@830: 
fp@1318: void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
fp@1342: void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *);
fp@1407: void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
fp@1337: void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
fp@1844: void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
fp@1180: void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
fp@1509: void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
fp@1509: void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
fp@888: void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
fp@1407: void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
fp@830: 
fp@830: void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
fp@830: void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
fp@830: 
fp@1318: void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *);
fp@1318: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Constructor.
fp@830:  */
fp@1064: void ec_fsm_slave_config_init(
fp@1064:         ec_fsm_slave_config_t *fsm, /**< slave state machine */
fp@1174:         ec_datagram_t *datagram, /**< datagram structure to use */
fp@1174:         ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
fp@1174:         ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
fp@1327:         ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
fp@830:         )
fp@830: {
fp@1318:     ec_sdo_request_init(&fsm->request_copy);
fp@1849:     ec_soe_request_init(&fsm->soe_request_copy);
fp@1318: 
fp@830:     fsm->datagram = datagram;
fp@1174:     fsm->fsm_change = fsm_change;
fp@1174:     fsm->fsm_coe = fsm_coe;
fp@1174:     fsm->fsm_pdo = fsm_pdo;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** Destructor.
fp@830:  */
fp@1064: void ec_fsm_slave_config_clear(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@1318:     ec_sdo_request_clear(&fsm->request_copy);
fp@1844:     ec_soe_request_clear(&fsm->soe_request_copy);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Start slave configuration state machine.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_start(
fp@1064:         ec_fsm_slave_config_t *fsm, /**< slave state machine */
fp@830:         ec_slave_t *slave /**< slave to configure */
fp@830:         )
fp@830: {
fp@830:     fsm->slave = slave;
fp@830:     fsm->state = ec_fsm_slave_config_state_start;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@1064:  * \return false, if state machine has terminated
fp@1064:  */
fp@1064: int ec_fsm_slave_config_running(
fp@1064:         const ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     return fsm->state != ec_fsm_slave_config_state_end
fp@830:         && fsm->state != ec_fsm_slave_config_state_error;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Executes the current state of the state machine.
fp@1064:  *
fp@1064:  * If the state machine's datagram is not sent or received yet, the execution
fp@1064:  * of the state machine is delayed to the next cycle.
fp@1064:  *
fp@1064:  * \return false, if state machine has terminated
fp@1064:  */
fp@1064: int ec_fsm_slave_config_exec(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@830:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@830:         // datagram was not sent or received yet.
fp@830:         return ec_fsm_slave_config_running(fsm);
fp@830:     }
fp@830: 
fp@830:     fsm->state(fsm);
fp@830:     return ec_fsm_slave_config_running(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /**
fp@1064:  * \return true, if the state machine terminated gracefully
fp@1064:  */
fp@1064: int ec_fsm_slave_config_success(
fp@1064:         const ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     return fsm->state == ec_fsm_slave_config_state_end;
fp@830: }
fp@830: 
fp@830: /******************************************************************************
fp@830:  * Slave configuration state machine
fp@830:  *****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: START.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_start(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Configuring...\n");
fp@1318:     ec_fsm_slave_config_enter_init(fsm);
fp@1318: }
fp@1318: 
fp@1318: /*****************************************************************************/
fp@1318: 
fp@1318: /** Start state change to INIT.
fp@1318:  */
fp@1318: void ec_fsm_slave_config_enter_init(
fp@1318:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1318:         )
fp@1318: {
fp@1174:     ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change);
fp@830:     fsm->state = ec_fsm_slave_config_state_init;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: INIT.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_init(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         if (!fsm->fsm_change->spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Now in INIT.\n");
fp@830: 
fp@830:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@1342:         ec_fsm_slave_config_enter_clear_sync(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Clearing FMMU configurations...\n");
fp@830: 
fp@830:     // clear FMMU configurations
fp@830:     ec_datagram_fpwr(datagram, slave->station_address,
fp@830:             0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@1225:     ec_datagram_zero(datagram);
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_clear_fmmus;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: CLEAR FMMU.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_clear_fmmus(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed receive FMMU clearing datagram.\n");
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to clear FMMUs: ");
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1342:     ec_fsm_slave_config_enter_clear_sync(fsm);
fp@1342: }
fp@1342: 
fp@1342: /*****************************************************************************/
fp@1342: 
fp@1342: /** Clear the sync manager configurations.
fp@1342:  */
fp@1342: void ec_fsm_slave_config_enter_clear_sync(
fp@1342:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1342:         )
fp@1342: {
fp@1342:     ec_slave_t *slave = fsm->slave;
fp@1342:     ec_datagram_t *datagram = fsm->datagram;
fp@1342:     size_t sync_size;
fp@1342: 
fp@1471:     if (!slave->base_sync_count) {
fp@1404:         // no sync managers
fp@1407:         ec_fsm_slave_config_enter_dc_clear_assign(fsm);
fp@1342:         return;
fp@1342:     }
fp@1342: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Clearing sync manager configurations...\n");
fp@1344: 
fp@1471:     sync_size = EC_SYNC_PAGE_SIZE * slave->base_sync_count;
fp@1342: 
fp@1342:     // clear sync manager configurations
fp@1342:     ec_datagram_fpwr(datagram, slave->station_address, 0x0800, sync_size);
fp@1896:     ec_datagram_zero(datagram);
fp@1342:     fsm->retries = EC_FSM_RETRIES;
fp@1342:     fsm->state = ec_fsm_slave_config_state_clear_sync;
fp@1342: }
fp@1342: 
fp@1342: /*****************************************************************************/
fp@1342: 
fp@1342: /** Slave configuration state: CLEAR SYNC.
fp@1342:  */
fp@1342: void ec_fsm_slave_config_state_clear_sync(
fp@1342:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1342:         )
fp@1342: {
fp@1342:     ec_datagram_t *datagram = fsm->datagram;
fp@1342: 
fp@1342:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1342:         return;
fp@1342: 
fp@1342:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1342:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed receive sync manager"
fp@1921:                 " clearing datagram.\n");
fp@1342:         return;
fp@1342:     }
fp@1342: 
fp@1342:     if (datagram->working_counter != 1) {
fp@1342:         fsm->slave->error_flag = 1;
fp@1342:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(fsm->slave,
fp@1921:                 "Failed to clear sync manager configurations: ");
fp@1342:         ec_datagram_print_wc_error(datagram);
fp@1342:         return;
fp@1342:     }
fp@1342: 
fp@1407:     ec_fsm_slave_config_enter_dc_clear_assign(fsm);
fp@1406: }
fp@1406: 
fp@1406: /*****************************************************************************/
fp@1406: 
fp@1406: /** Clear the DC assignment.
fp@1406:  */
fp@1407: void ec_fsm_slave_config_enter_dc_clear_assign(
fp@1406:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1406:         )
fp@1406: {
fp@1406:     ec_slave_t *slave = fsm->slave;
fp@1406:     ec_datagram_t *datagram = fsm->datagram;
fp@1406: 
fp@1419:     if (!slave->base_dc_supported || !slave->has_dc_system_time) {
fp@1406:         ec_fsm_slave_config_enter_mbox_sync(fsm);
fp@1406:         return;
fp@1406:     }
fp@1406: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Clearing DC assignment...\n");
fp@1406: 
fp@1406:     ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
fp@1406:     ec_datagram_zero(datagram);
fp@1406:     fsm->retries = EC_FSM_RETRIES;
fp@1407:     fsm->state = ec_fsm_slave_config_state_dc_clear_assign;
fp@1406: }
fp@1406: 
fp@1406: /*****************************************************************************/
fp@1406: 
fp@1406: /** Slave configuration state: CLEAR DC ASSIGN.
fp@1406:  */
fp@1407: void ec_fsm_slave_config_state_dc_clear_assign(
fp@1406:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1406:         )
fp@1406: {
fp@1406:     ec_datagram_t *datagram = fsm->datagram;
fp@1406: 
fp@1406:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1406:         return;
fp@1406: 
fp@1406:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1406:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed receive DC assignment"
fp@1921:                 " clearing datagram.\n");
fp@1921:         return;
fp@1921:     }
fp@1921: 
fp@1921:     if (datagram->working_counter != 1) {
fp@1407:         // clearing the DC assignment does not succeed on simple slaves
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "Failed to clear DC assignment: ");
fp@1407:         ec_datagram_print_wc_error(datagram);
fp@1407:     }
fp@1407: 
fp@830:     ec_fsm_slave_config_enter_mbox_sync(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Check for mailbox sync managers to be configured.
fp@1064:  */
fp@830: void ec_fsm_slave_config_enter_mbox_sync(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     unsigned int i;
fp@830: 
fp@830:     // slave is now in INIT
fp@830:     if (slave->current_state == slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@1921:         EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
fp@830:         return;
fp@830:     }
fp@830: 
fp@834:     if (!slave->sii.mailbox_protocols) {
fp@830:         // no mailbox protocols supported
fp@1921:         EC_SLAVE_DBG(slave, 1, "Slave does not support"
fp@1921:                 " mailbox communication.\n");
fp@1337:         ec_fsm_slave_config_enter_boot_preop(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
fp@830: 
fp@1337:     if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
fp@1337:         ec_sync_t sync;
fp@1337: 
fp@1337:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@1337:                 EC_SYNC_PAGE_SIZE * 2);
fp@1896:         ec_datagram_zero(datagram);
fp@1337: 
fp@1337:         ec_sync_init(&sync, slave);
fp@1337:         sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
fp@1337:         sync.control_register = 0x26;
fp@1337:         sync.enable = 1;
fp@1337:         ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
fp@1337:                 EC_DIR_INVALID, // use default direction
fp@1337:                 datagram->data);
fp@1338:         slave->configured_rx_mailbox_offset =
fp@1338:             slave->sii.boot_rx_mailbox_offset;
fp@1338:         slave->configured_rx_mailbox_size =
fp@1338:             slave->sii.boot_rx_mailbox_size;
fp@1337: 
fp@1337:         ec_sync_init(&sync, slave);
fp@1337:         sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
fp@1337:         sync.control_register = 0x22;
fp@1337:         sync.enable = 1;
fp@1337:         ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
fp@1337:                 EC_DIR_INVALID, // use default direction
fp@1337:                 datagram->data + EC_SYNC_PAGE_SIZE);
fp@1338:         slave->configured_tx_mailbox_offset =
fp@1338:             slave->sii.boot_tx_mailbox_offset;
fp@1338:         slave->configured_tx_mailbox_size =
fp@1338:             slave->sii.boot_tx_mailbox_size;
fp@1338: 
fp@1337:     } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
fp@830:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@834:                 EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
fp@1225:         ec_datagram_zero(datagram);
fp@830: 
fp@830:         for (i = 0; i < 2; i++) {
fp@1055:             ec_sync_page(&slave->sii.syncs[i], i,
fp@1055:                     slave->sii.syncs[i].default_length,
fp@1509:                     NULL, // use default sync manager configuration
fp@830:                     datagram->data + EC_SYNC_PAGE_SIZE * i);
fp@830:         }
fp@1338: 
fp@1338:         slave->configured_rx_mailbox_offset =
fp@1338:             slave->sii.syncs[0].physical_start_address;
fp@1338:         slave->configured_rx_mailbox_size =
fp@1338:             slave->sii.syncs[0].default_length;
fp@1338:         slave->configured_tx_mailbox_offset =
fp@1338:             slave->sii.syncs[1].physical_start_address;
fp@1338:         slave->configured_tx_mailbox_size =
fp@1338:             slave->sii.syncs[1].default_length;
fp@830:     } else { // no mailbox sync manager configurations provided
fp@830:         ec_sync_t sync;
fp@830: 
fp@1921:         EC_SLAVE_DBG(slave, 1, "Slave does not provide"
fp@1921:                 " mailbox sync manager configurations.\n");
fp@830: 
fp@830:         ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
fp@830:                 EC_SYNC_PAGE_SIZE * 2);
fp@1225:         ec_datagram_zero(datagram);
fp@830: 
fp@1055:         ec_sync_init(&sync, slave);
fp@1337:         sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
fp@830:         sync.control_register = 0x26;
fp@830:         sync.enable = 1;
fp@1337:         ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
fp@1509:                 NULL, // use default sync manager configuration
fp@1055:                 datagram->data);
fp@1338:         slave->configured_rx_mailbox_offset =
fp@1338:             slave->sii.std_rx_mailbox_offset;
fp@1338:         slave->configured_rx_mailbox_size =
fp@1338:             slave->sii.std_rx_mailbox_size;
fp@1055: 
fp@1055:         ec_sync_init(&sync, slave);
fp@1337:         sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
fp@830:         sync.control_register = 0x22;
fp@830:         sync.enable = 1;
fp@1337:         ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
fp@1509:                 NULL, // use default sync manager configuration
fp@1055:                 datagram->data + EC_SYNC_PAGE_SIZE);
fp@1338:         slave->configured_tx_mailbox_offset =
fp@1471:             slave->sii.std_tx_mailbox_offset;
fp@1338:         slave->configured_tx_mailbox_size =
fp@1471:             slave->sii.std_tx_mailbox_size;
fp@830:     }
fp@830: 
fp@1347:     fsm->take_time = 1;
fp@1347: 
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_mbox_sync;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: SYNC.
fp@1345:  *
fp@1345:  * \todo Timeout for response.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_mbox_sync(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive sync manager"
fp@1921:                 " configuration datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1347:     if (fsm->take_time) {
fp@1347:         fsm->take_time = 0;
fp@1347:         fsm->jiffies_start = datagram->jiffies_sent;
fp@1347:     }
fp@1347: 
fp@1347:     /* Because the sync manager configurations are cleared during the last
fp@1347:      * cycle, some slaves do not immediately respond to the mailbox sync
fp@1347:      * manager configuration datagram. Therefore, resend the datagram for
fp@1347:      * a certain time, if the slave does not respond.
fp@1347:      */
fp@1347:     if (datagram->working_counter == 0) {
fp@1347:         unsigned long diff = datagram->jiffies_received - fsm->jiffies_start;
fp@1347: 
fp@1347:         if (diff >= HZ) {
fp@1347:             slave->error_flag = 1;
fp@1347:             fsm->state = ec_fsm_slave_config_state_error;
fp@1921:             EC_SLAVE_ERR(slave, "Timeout while configuring"
fp@1921:                     " mailbox sync managers.\n");
fp@1347:             return;
fp@1921:         } else {
fp@1921:             EC_SLAVE_DBG(slave, 1, "Resending after %u ms...\n",
fp@1347:                     (unsigned int) diff * 1000 / HZ);
fp@1347:         }
fp@1347: 
fp@1347:         // send configuration datagram again
fp@1347:         fsm->retries = EC_FSM_RETRIES;
fp@1347:         return;
fp@1347:     }
fp@1347:     else if (datagram->working_counter != 1) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to set sync managers: ");
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1337:     ec_fsm_slave_config_enter_boot_preop(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Request PREOP state.
fp@1064:  */
fp@1337: void ec_fsm_slave_config_enter_boot_preop(
fp@1337:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1337:         )
fp@1337: {
fp@1337:     fsm->state = ec_fsm_slave_config_state_boot_preop;
fp@1337: 
fp@1337:     if (fsm->slave->requested_state != EC_SLAVE_STATE_BOOT) {
fp@1337:         ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
fp@1337:     } else { // BOOT
fp@1337:         ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_BOOT);
fp@1337:     }
fp@1337: 
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1337: /** Slave configuration state: BOOT/PREOP.
fp@1337:  */
fp@1337: void ec_fsm_slave_config_state_boot_preop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         if (!fsm->fsm_change->spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@1404:     // slave is now in BOOT or PREOP
fp@830:     slave->jiffies_preop = fsm->datagram->jiffies_received;
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Now in %s.\n",
fp@1921:             slave->requested_state != EC_SLAVE_STATE_BOOT ? "PREOP" : "BOOT");
fp@830: 
fp@830:     if (slave->current_state == slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@1921:         EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
fp@830:         return;
fp@830:     }
fp@830: 
fp@1491:     ec_fsm_slave_config_enter_sdo_conf(fsm);
fp@1491: }
fp@1491: 
fp@1491: /*****************************************************************************/
fp@1491: 
fp@1491: /** Check for SDO configurations to be applied.
fp@1491:  */
fp@1491: void ec_fsm_slave_config_enter_sdo_conf(
fp@1491:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1491:         )
fp@1491: {
fp@1491:     ec_slave_t *slave = fsm->slave;
fp@1491: 
fp@830:     if (!slave->config) {
fp@1491:         ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@1491:         return;
fp@1491:     }
fp@888: 
fp@830:     // No CoE configuration to be applied?
fp@1327:     if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
fp@1844:         ec_fsm_slave_config_enter_soe_conf(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1327:     // start SDO configuration
fp@830:     fsm->state = ec_fsm_slave_config_state_sdo_conf;
fp@854:     fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
fp@854:             ec_sdo_request_t, list);
fp@1318:     ec_sdo_request_copy(&fsm->request_copy, fsm->request);
fp@1318:     ecrt_sdo_request_write(&fsm->request_copy);
fp@1318:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
fp@1174:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: SDO_CONF.
fp@1064:  */
fp@830: void ec_fsm_slave_config_state_sdo_conf(
fp@830:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@830:         )
fp@830: {
fp@1174:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "SDO configuration failed.\n");
fp@830:         fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@1318:     if (!fsm->slave->config) { // config removed in the meantime
fp@1318:         ec_fsm_slave_config_reconfigure(fsm);
fp@1318:         return;
fp@1318:     }
fp@1318: 
fp@1327:     // Another SDO to configure?
fp@854:     if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
fp@1318:         fsm->request = list_entry(fsm->request->list.next,
fp@1318:                 ec_sdo_request_t, list);
fp@1318:         ec_sdo_request_copy(&fsm->request_copy, fsm->request);
fp@1318:         ecrt_sdo_request_write(&fsm->request_copy);
fp@1318:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request_copy);
fp@1174:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@830:         return;
fp@830:     }
fp@830: 
fp@1327:     // All SDOs are now configured.
fp@1873:     ec_fsm_slave_config_enter_soe_conf(fsm);
fp@1844: }
fp@1844: 
fp@1844: /*****************************************************************************/
fp@1844: 
fp@1844: /** Check for SoE configurations to be applied.
fp@1844:  */
fp@1844: void ec_fsm_slave_config_enter_soe_conf(
fp@1844:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1844:         )
fp@1844: {
fp@1844:     ec_slave_t *slave = fsm->slave;
fp@1873:     ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
fp@1844: 
fp@1844:     if (!slave->config) {
fp@1844:         ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@1844:         return;
fp@1844:     }
fp@1844: 
fp@1844:     // No SoE configuration to be applied?
fp@1844:     if (list_empty(&slave->config->soe_configs)) { // skip configuration
fp@1844:         ec_fsm_slave_config_enter_pdo_conf(fsm);
fp@1844:         return;
fp@1844:     }
fp@1844: 
fp@1844:     // start SoE configuration
fp@1844:     fsm->state = ec_fsm_slave_config_state_soe_conf;
fp@1844:     fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
fp@1844:             ec_soe_request_t, list);
fp@1844:     ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
fp@1873:     ec_soe_request_write(&fsm->soe_request_copy);
fp@1844:     ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
fp@1844:     ec_fsm_soe_exec(fsm_soe); // execute immediately
fp@1873:     ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
fp@1844: }
fp@1844: 
fp@1844: /*****************************************************************************/
fp@1844: 
fp@1844: /** Slave configuration state: SOE_CONF.
fp@1844:  */
fp@1844: void ec_fsm_slave_config_state_soe_conf(
fp@1844:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1844:         )
fp@1844: {
fp@1844:     ec_slave_t *slave = fsm->slave;
fp@1873:     ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
fp@1844: 
fp@1844:     if (ec_fsm_soe_exec(fsm_soe)) {
fp@1873:         ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
fp@1873:         return;
fp@1873:     }
fp@1844: 
fp@1844:     if (!ec_fsm_soe_success(fsm_soe)) {
fp@1921:         EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
fp@1844:         fsm->slave->error_flag = 1;
fp@1844:         fsm->state = ec_fsm_slave_config_state_error;
fp@1844:         return;
fp@1844:     }
fp@1844: 
fp@1844:     if (!fsm->slave->config) { // config removed in the meantime
fp@1844:         ec_fsm_slave_config_reconfigure(fsm);
fp@1844:         return;
fp@1844:     }
fp@1844: 
fp@1844:     // Another IDN to configure?
fp@1844:     if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fp@1844:         fsm->soe_request = list_entry(fsm->soe_request->list.next,
fp@1844:                 ec_soe_request_t, list);
fp@1844:         ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
fp@1844:         ec_soe_request_write(&fsm->soe_request_copy);
fp@1844:         ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
fp@1844:         ec_fsm_soe_exec(fsm_soe); // execute immediately
fp@1873:         ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
fp@1844:         return;
fp@1844:     }
fp@1844: 
fp@1844:     // All SDOs are now configured.
fp@1180:     ec_fsm_slave_config_enter_pdo_conf(fsm);
fp@1180: }
fp@1180: 
fp@1180: /*****************************************************************************/
fp@1180: 
fp@1180: /** PDO_CONF entry function.
fp@1180:  */
fp@1180: void ec_fsm_slave_config_enter_pdo_conf(
fp@1180:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1180:         )
fp@1180: {
fp@1327:     // Start configuring PDOs
fp@1180:     ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fp@1180:     fsm->state = ec_fsm_slave_config_state_pdo_conf;
fp@1180:     fsm->state(fsm); // execute immediately
fp@1180: }
fp@1180: 
fp@1180: /*****************************************************************************/
fp@1180: 
fp@1180: /** Slave configuration state: PDO_CONF.
fp@1180:  */
fp@1180: void ec_fsm_slave_config_state_pdo_conf(
fp@1180:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1180:         )
fp@1180: {
fp@1507:     // TODO check for config here
fp@1407: 
fp@1180:     if (ec_fsm_pdo_exec(fsm->fsm_pdo))
fp@1180:         return;
fp@1180: 
fp@1318:     if (!fsm->slave->config) { // config removed in the meantime
fp@1318:         ec_fsm_slave_config_reconfigure(fsm);
fp@1318:         return;
fp@1318:     }
fp@1318: 
fp@1180:     if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "PDO configuration failed.\n");
fp@1180:     }
fp@1180: 
fp@1509:     ec_fsm_slave_config_enter_watchdog_divider(fsm);
fp@1509: }
fp@1509: 
fp@1509: /*****************************************************************************/
fp@1509: 
fp@1509: /** WATCHDOG_DIVIDER entry function.
fp@1509:  */
fp@1509: void ec_fsm_slave_config_enter_watchdog_divider(
fp@1509:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1509:         )
fp@1509: {
fp@1509:     ec_slave_t *slave = fsm->slave;
fp@1509:     ec_datagram_t *datagram = fsm->datagram;
fp@1509:     ec_slave_config_t *config = slave->config;
fp@1509: 
fp@1509:     if (config && config->watchdog_divider) {
fp@1921:         EC_SLAVE_DBG(slave, 1, "Setting watchdog divider to %u.\n",
fp@1921:                 config->watchdog_divider);
fp@1509: 
fp@1509:         ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
fp@1509:         EC_WRITE_U16(datagram->data, config->watchdog_divider);
fp@1509:         fsm->retries = EC_FSM_RETRIES;
fp@1509:         fsm->state = ec_fsm_slave_config_state_watchdog_divider;
fp@1509:     } else {
fp@1509:         ec_fsm_slave_config_enter_watchdog(fsm);
fp@1509:     }
fp@1509: }
fp@1509: 
fp@1509: /*****************************************************************************/
fp@1509: 
fp@1509: /** Slave configuration state: WATCHDOG_DIVIDER.
fp@1509:  */
fp@1509: void ec_fsm_slave_config_state_watchdog_divider(
fp@1509:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1509:         )
fp@1509: {
fp@1509:     ec_datagram_t *datagram = fsm->datagram;
fp@1509:     ec_slave_t *slave = fsm->slave;
fp@1509: 
fp@1509:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1509:         return;
fp@1509: 
fp@1509:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1509:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive watchdog divider"
fp@1921:                 " configuration datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@1509:         return;
fp@1509:     }
fp@1509: 
fp@1509:     if (datagram->working_counter != 1) {
fp@1509:         slave->error_flag = 1;
fp@1921:         EC_SLAVE_WARN(slave, "Failed to set watchdog divider: ");
fp@1509:         ec_datagram_print_wc_error(datagram);
fp@1509:         return;
fp@1509:     }
fp@1509: 
fp@1509:     ec_fsm_slave_config_enter_watchdog(fsm);
fp@1509: }
fp@1509: 
fp@1509: /*****************************************************************************/
fp@1509: 
fp@1509: /** WATCHDOG entry function
fp@1509:  */
fp@1509: void ec_fsm_slave_config_enter_watchdog(
fp@1509:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1509:         )
fp@1509: {
fp@1509:     ec_datagram_t *datagram = fsm->datagram;
fp@1509:     ec_slave_t *slave = fsm->slave;
fp@1509:     ec_slave_config_t *config = slave->config;
fp@1509: 
fp@1509:     if (config && config->watchdog_intervals) {
fp@1921:         EC_SLAVE_DBG(slave, 1, "Setting process data"
fp@1921:                 " watchdog intervals to %u.\n", config->watchdog_intervals);
fp@1509: 
fp@1509:         ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
fp@1509:         EC_WRITE_U16(datagram->data, config->watchdog_intervals);
fp@1509: 
fp@1509:         fsm->retries = EC_FSM_RETRIES;
fp@1509:         fsm->state = ec_fsm_slave_config_state_watchdog;
fp@1520:     } else {
fp@1520:         ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@1520:     }
fp@1509: }
fp@1509: 
fp@1509: /*****************************************************************************/
fp@1509: 
fp@1509: /** Slave configuration state: WATCHDOG.
fp@1509:  */
fp@1509: 
fp@1509: void ec_fsm_slave_config_state_watchdog(
fp@1509:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1509:         )
fp@1509: {
fp@1509:     ec_datagram_t *datagram = fsm->datagram;
fp@1509:     ec_slave_t *slave = fsm->slave;
fp@1509: 
fp@1509:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1509:         return;
fp@1509: 
fp@1509:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1509:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive sync manager"
fp@1921:                 " watchdog configuration datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@1509:         return;
fp@1509:     }
fp@1509: 
fp@1509:     if (datagram->working_counter != 1) {
fp@1921:         EC_SLAVE_WARN(slave, "Failed to set process data"
fp@1921:                 " watchdog intervals: ");
fp@1509:         ec_datagram_print_wc_error(datagram);
fp@1509:     }
fp@1509: 
fp@888:     ec_fsm_slave_config_enter_pdo_sync(fsm);
fp@888: }
fp@888: 
fp@888: /*****************************************************************************/
fp@888: 
fp@1327: /** Check for PDO sync managers to be configured.
fp@1064:  */
fp@888: void ec_fsm_slave_config_enter_pdo_sync(
fp@888:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@888:         )
fp@888: {
fp@888:     ec_slave_t *slave = fsm->slave;
fp@888:     ec_datagram_t *datagram = fsm->datagram;
fp@888:     unsigned int i, offset, num_pdo_syncs;
fp@1055:     uint8_t sync_index;
fp@888:     const ec_sync_t *sync;
fp@888:     uint16_t size;
fp@888: 
fp@888:     if (slave->sii.mailbox_protocols) {
fp@888:         offset = 2; // slave has mailboxes
fp@888:     } else {
fp@888:         offset = 0;
fp@888:     }
fp@888: 
fp@888:     if (slave->sii.sync_count <= offset) {
fp@1327:         // no PDO sync managers to configure
fp@1180:         ec_fsm_slave_config_enter_fmmu(fsm);
fp@888:         return;
fp@888:     }
fp@888: 
fp@888:     num_pdo_syncs = slave->sii.sync_count - offset;
fp@888: 
fp@888:     // configure sync managers for process data
fp@888:     ec_datagram_fpwr(datagram, slave->station_address,
fp@888:             0x0800 + EC_SYNC_PAGE_SIZE * offset,
fp@888:             EC_SYNC_PAGE_SIZE * num_pdo_syncs);
fp@1225:     ec_datagram_zero(datagram);
fp@888: 
fp@888:     for (i = 0; i < num_pdo_syncs; i++) {
fp@1509:         const ec_sync_config_t *sync_config;
fp@1055:         sync_index = i + offset;
fp@1055:         sync = &slave->sii.syncs[sync_index];
fp@1491: 
fp@1491:         if (slave->config) {
fp@1491:             sync_config = &slave->config->sync_configs[sync_index];
fp@1491:             size = ec_pdo_list_total_size(&sync_config->pdos);
fp@1491:         } else {
fp@1509:             sync_config = NULL;
fp@1491:             size = sync->default_length;
fp@1491:         }
fp@1491: 
fp@1509:         ec_sync_page(sync, sync_index, size, sync_config,
fp@1509:                 datagram->data + EC_SYNC_PAGE_SIZE * i);
fp@888:     }
fp@888: 
fp@888:     fsm->retries = EC_FSM_RETRIES;
fp@888:     fsm->state = ec_fsm_slave_config_state_pdo_sync;
fp@888: }
fp@888: 
fp@888: /*****************************************************************************/
fp@888: 
fp@1327: /** Configure PDO sync managers.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_pdo_sync(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@888: {
fp@888:     ec_datagram_t *datagram = fsm->datagram;
fp@888:     ec_slave_t *slave = fsm->slave;
fp@888: 
fp@888:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@888:         return;
fp@888: 
fp@888:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@888:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive process data sync"
fp@1921:                 " manager configuration datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@888:         return;
fp@888:     }
fp@888: 
fp@888:     if (datagram->working_counter != 1) {
fp@888:         slave->error_flag = 1;
fp@888:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to set process data sync managers: ");
fp@888:         ec_datagram_print_wc_error(datagram);
fp@888:         return;
fp@888:     }
fp@888: 
fp@830:     ec_fsm_slave_config_enter_fmmu(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Check for FMMUs to be configured.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_fmmu(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     unsigned int i;
fp@830:     const ec_fmmu_config_t *fmmu;
fp@830:     const ec_sync_t *sync;
fp@830: 
fp@1491:     if (!slave->config) {
fp@1491:         ec_fsm_slave_config_enter_safeop(fsm);
fp@1407:         return;
fp@1407:     }
fp@1407: 
fp@830:     if (slave->base_fmmu_count < slave->config->used_fmmus) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Slave has less FMMUs (%u)"
fp@1921:                 " than requested (%u).\n", slave->base_fmmu_count,
fp@830:                 slave->config->used_fmmus);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@1407:         ec_fsm_slave_config_enter_dc_cycle(fsm);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // configure FMMUs
fp@830:     ec_datagram_fpwr(datagram, slave->station_address,
fp@830:                      0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
fp@1225:     ec_datagram_zero(datagram);
fp@830:     for (i = 0; i < slave->config->used_fmmus; i++) {
fp@830:         fmmu = &slave->config->fmmu_configs[i];
fp@1055:         if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
fp@830:             slave->error_flag = 1;
fp@830:             fsm->state = ec_fsm_slave_config_state_error;
fp@1921:             EC_SLAVE_ERR(slave, "Failed to determine PDO sync manager"
fp@1921:                     " for FMMU!\n");
fp@830:             return;
fp@830:         }
fp@830:         ec_fmmu_config_page(fmmu, sync,
fp@830:                 datagram->data + EC_FMMU_PAGE_SIZE * i);
fp@830:     }
fp@830: 
fp@830:     fsm->retries = EC_FSM_RETRIES;
fp@830:     fsm->state = ec_fsm_slave_config_state_fmmu;
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: FMMU.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_fmmu(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_datagram_t *datagram = fsm->datagram;
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@830:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@830:         return;
fp@830: 
fp@830:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive FMMUs datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     if (datagram->working_counter != 1) {
fp@830:         slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to set FMMUs: ");
fp@830:         ec_datagram_print_wc_error(datagram);
fp@830:         return;
fp@830:     }
fp@830: 
fp@1407:     ec_fsm_slave_config_enter_dc_cycle(fsm);
fp@1407: }
fp@1407: 
fp@1407: /*****************************************************************************/
fp@1407: 
fp@1407: /** Check for DC to be configured.
fp@1407:  */
fp@1407: void ec_fsm_slave_config_enter_dc_cycle(
fp@1407:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1407:         )
fp@1407: {
fp@1407:     ec_datagram_t *datagram = fsm->datagram;
fp@1407:     ec_slave_t *slave = fsm->slave;
fp@1407:     ec_slave_config_t *config = slave->config;
fp@1407: 
fp@1407:     if (!config) { // config removed in the meantime
fp@1407:         ec_fsm_slave_config_reconfigure(fsm);
fp@1396:         return;
fp@1396:     }
fp@1392: 
fp@1392:     if (config->dc_assign_activate) {
fp@1419:         if (!slave->base_dc_supported || !slave->has_dc_system_time) {
fp@1921:             EC_SLAVE_WARN(slave, "Slave seems not to support"
fp@1921:                     " distributed clocks!\n");
fp@1407:         }
fp@1407: 
fp@1921:         EC_SLAVE_DBG(slave, 1, "Setting DC cycle times to %u / %u.\n",
fp@1921:                 config->dc_sync[0].cycle_time, config->dc_sync[1].cycle_time);
fp@1458: 
fp@1392:         // set DC cycle times
fp@1392:         ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
fp@1438:         EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
fp@1438:         EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
fp@1392:         fsm->retries = EC_FSM_RETRIES;
fp@1392:         fsm->state = ec_fsm_slave_config_state_dc_cycle;
fp@1392:     } else {
fp@1404:         // DC are unused
fp@1396:         ec_fsm_slave_config_enter_safeop(fsm);
fp@1392:     }
fp@1392: }
fp@1392: 
fp@1392: /*****************************************************************************/
fp@1392: 
fp@1392: /** Slave configuration state: DC CYCLE.
fp@1392:  */
fp@1392: void ec_fsm_slave_config_state_dc_cycle(
fp@1392:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1392:         )
fp@1392: {
fp@1392:     ec_datagram_t *datagram = fsm->datagram;
fp@1392:     ec_slave_t *slave = fsm->slave;
fp@1925:     ec_slave_config_t *config = slave->config;
fp@1925: 
fp@1925:     if (!config) { // config removed in the meantime
fp@1925:         ec_fsm_slave_config_reconfigure(fsm);
fp@1925:         return;
fp@1925:     }
fp@1925: 
fp@1925:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1925:         return;
fp@1925: 
fp@1925:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1925:         fsm->state = ec_fsm_slave_config_state_error;
fp@1925:         EC_SLAVE_ERR(slave, "Failed to receive DC cycle times datagram: ");
fp@1925:         ec_datagram_print_state(datagram);
fp@1925:         return;
fp@1925:     }
fp@1925: 
fp@1925:     if (datagram->working_counter != 1) {
fp@1925:         slave->error_flag = 1;
fp@1925:         fsm->state = ec_fsm_slave_config_state_error;
fp@1925:         EC_SLAVE_ERR(slave, "Failed to set DC cycle times: ");
fp@1925:         ec_datagram_print_wc_error(datagram);
fp@1925:         return;
fp@1925:     }
fp@1925: 
fp@1925:     EC_SLAVE_DBG(slave, 1, "Checking for synchrony.\n");
fp@1925: 
fp@1925:     fsm->jiffies_start = jiffies;
fp@1925:     ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
fp@1925:     fsm->retries = EC_FSM_RETRIES;
fp@1925:     fsm->state = ec_fsm_slave_config_state_dc_sync_check;
fp@1925: }
fp@1925: 
fp@1925: /*****************************************************************************/
fp@1925: 
fp@1925: /** Slave configuration state: DC SYNC CHECK.
fp@1925:  */
fp@1925: void ec_fsm_slave_config_state_dc_sync_check(
fp@1925:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1925:         )
fp@1925: {
fp@1925:     ec_datagram_t *datagram = fsm->datagram;
fp@1925:     ec_slave_t *slave = fsm->slave;
fp@1436:     ec_master_t *master = slave->master;
fp@1412:     ec_slave_config_t *config = slave->config;
fp@1925:     uint32_t abs_sync_diff;
fp@1925:     unsigned long diff_ms;
fp@1438:     ec_sync_signal_t *sync0 = &config->dc_sync[0];
fp@1396:     u64 start_time;
fp@1392: 
fp@1412:     if (!config) { // config removed in the meantime
fp@1412:         ec_fsm_slave_config_reconfigure(fsm);
fp@1412:         return;
fp@1412:     }
fp@1412: 
fp@1392:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1392:         return;
fp@1392: 
fp@1392:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1925:         EC_SLAVE_ERR(slave, "Failed to receive DC sync check datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@1392:     if (datagram->working_counter != 1) {
fp@1392:         slave->error_flag = 1;
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1925:         EC_SLAVE_ERR(slave, "Failed to check DC synchrony: ");
fp@1392:         ec_datagram_print_wc_error(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@1925:     abs_sync_diff = EC_READ_U32(datagram->data) & 0x7fffffff;
fp@1925:     diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
fp@1925: 
fp@1925:     if (abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
fp@1925: 
fp@1925:         if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
fp@1931:             EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
fp@1931:                     diff_ms);
fp@1925:         } else {
fp@1931:             EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
fp@1931:                     diff_ms, abs_sync_diff);
fp@1925: 
fp@1925:             // check synchrony again
fp@1925:             ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
fp@1925:             fsm->retries = EC_FSM_RETRIES;
fp@1925:             return;
fp@1925:         }
fp@1925:     } else {
fp@1931:         EC_SLAVE_DBG(slave, 1, "%u ns difference after %lu ms.\n",
fp@1931:                 abs_sync_diff, diff_ms);
fp@1925:     }
fp@1925: 
fp@1392:     // set DC start time
fp@1925:     start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns
fp@1436:     // FIXME use slave's local system time here?
fp@1436: 
fp@1438:     if (sync0->cycle_time) {
fp@1436:         // find correct phase
fp@1925:         if (master->has_app_time) {
fp@1438:             u64 diff, start;
fp@1438:             u32 remainder;
fp@1438: 
fp@1436:             diff = start_time - master->app_start_time;
fp@1438:             remainder = do_div(diff, sync0->cycle_time);
fp@1438: 
fp@1438:             start = start_time +
fp@1438:                 sync0->cycle_time - remainder + sync0->shift_time;
fp@1436: 
fp@1925:             EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
fp@1925:                     master->app_start_time);
fp@1925:             EC_SLAVE_DBG(slave, 1, "    start_time=%llu\n", start_time);
fp@1925:             EC_SLAVE_DBG(slave, 1, "    cycle_time=%u\n", sync0->cycle_time);
fp@1925:             EC_SLAVE_DBG(slave, 1, "    shift_time=%u\n", sync0->shift_time);
fp@1925:             EC_SLAVE_DBG(slave, 1, "     remainder=%u\n", remainder);
fp@1925:             EC_SLAVE_DBG(slave, 1, "         start=%llu\n", start);
fp@1436:             start_time = start;
fp@1436:         } else {
fp@1921:             EC_SLAVE_WARN(slave, "No application time supplied."
fp@1921:                     " Cyclic start time will not be in phase.\n");
fp@1436:         }
fp@1436:     }
fp@1436: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Setting DC cyclic operation"
fp@1921:             " start time to %llu.\n", start_time);
fp@1396: 
fp@1392:     ec_datagram_fpwr(datagram, slave->station_address, 0x0990, 8);
fp@1396:     EC_WRITE_U64(datagram->data, start_time);
fp@1392:     fsm->retries = EC_FSM_RETRIES;
fp@1392:     fsm->state = ec_fsm_slave_config_state_dc_start;
fp@1392: }
fp@1392: 
fp@1392: /*****************************************************************************/
fp@1392: 
fp@1392: /** Slave configuration state: DC START.
fp@1392:  */
fp@1392: void ec_fsm_slave_config_state_dc_start(
fp@1392:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1392:         )
fp@1392: {
fp@1392:     ec_datagram_t *datagram = fsm->datagram;
fp@1392:     ec_slave_t *slave = fsm->slave;
fp@1407:     ec_slave_config_t *config = slave->config;
fp@1407: 
fp@1407:     if (!config) { // config removed in the meantime
fp@1407:         ec_fsm_slave_config_reconfigure(fsm);
fp@1407:         return;
fp@1407:     }
fp@1392: 
fp@1392:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1392:         return;
fp@1392: 
fp@1392:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive DC start time datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@1392:     if (datagram->working_counter != 1) {
fp@1392:         slave->error_flag = 1;
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to set DC start time: ");
fp@1392:         ec_datagram_print_wc_error(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Setting DC AssignActivate to 0x%04x.\n",
fp@1921:             config->dc_assign_activate);
fp@1458: 
fp@1392:     // assign sync unit to EtherCAT or PDI
fp@1392:     ec_datagram_fpwr(datagram, slave->station_address, 0x0980, 2);
fp@1392:     EC_WRITE_U16(datagram->data, config->dc_assign_activate);
fp@1392:     fsm->retries = EC_FSM_RETRIES;
fp@1392:     fsm->state = ec_fsm_slave_config_state_dc_assign;
fp@1392: }
fp@1392: 
fp@1392: /*****************************************************************************/
fp@1392: 
fp@1392: /** Slave configuration state: DC ASSIGN.
fp@1392:  */
fp@1392: void ec_fsm_slave_config_state_dc_assign(
fp@1392:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1392:         )
fp@1392: {
fp@1392:     ec_datagram_t *datagram = fsm->datagram;
fp@1392:     ec_slave_t *slave = fsm->slave;
fp@1392: 
fp@1392:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1392:         return;
fp@1392: 
fp@1392:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to receive DC activation datagram: ");
fp@1822:         ec_datagram_print_state(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@1392:     if (datagram->working_counter != 1) {
fp@1392:         slave->error_flag = 1;
fp@1392:         fsm->state = ec_fsm_slave_config_state_error;
fp@1921:         EC_SLAVE_ERR(slave, "Failed to activate DC: ");
fp@1392:         ec_datagram_print_wc_error(datagram);
fp@1392:         return;
fp@1392:     }
fp@1392: 
fp@830:     ec_fsm_slave_config_enter_safeop(fsm);
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Request SAFEOP state.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_enter_safeop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     fsm->state = ec_fsm_slave_config_state_safeop;
fp@1174:     ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAFEOP);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: SAFEOP.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_safeop(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         if (!fsm->fsm_change->spontaneous_change)
fp@830:             fsm->slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // slave is now in SAFEOP
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Now in SAFEOP.\n");
fp@830: 
fp@830:     if (fsm->slave->current_state == fsm->slave->requested_state) {
fp@830:         fsm->state = ec_fsm_slave_config_state_end; // successful
fp@1921:         EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // set state to OP
fp@830:     fsm->state = ec_fsm_slave_config_state_op;
fp@1174:     ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
fp@1174:     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
fp@830: }
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1064: /** Slave configuration state: OP
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_op(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@830: {
fp@830:     ec_slave_t *slave = fsm->slave;
fp@830: 
fp@1174:     if (ec_fsm_change_exec(fsm->fsm_change)) return;
fp@1174: 
fp@1174:     if (!ec_fsm_change_success(fsm->fsm_change)) {
fp@1174:         if (!fsm->fsm_change->spontaneous_change)
fp@830:             slave->error_flag = 1;
fp@830:         fsm->state = ec_fsm_slave_config_state_error;
fp@830:         return;
fp@830:     }
fp@830: 
fp@830:     // slave is now in OP
fp@830: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Now in OP. Finished configuration.\n");
fp@830: 
fp@830:     fsm->state = ec_fsm_slave_config_state_end; // successful
fp@830: }
fp@830: 
fp@1318: /*****************************************************************************/
fp@1318: 
fp@1318: /** Reconfigure the slave starting at INIT.
fp@1318:  */
fp@1318: void ec_fsm_slave_config_reconfigure(
fp@1318:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1318:         )
fp@1318: {
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Slave configuration detached during "
fp@1921:             "configuration. Reconfiguring.");
fp@1318: 
fp@1318:     ec_fsm_slave_config_enter_init(fsm); // reconfigure
fp@1318: }
fp@1318: 
fp@830: /******************************************************************************
fp@830:  *  Common state functions
fp@830:  *****************************************************************************/
fp@830: 
fp@1064: /** State: ERROR.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_error(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@1064: {
fp@1064: }
fp@1064: 
fp@1064: /*****************************************************************************/
fp@1064: 
fp@1064: /** State: END.
fp@1064:  */
fp@1064: void ec_fsm_slave_config_state_end(
fp@1064:         ec_fsm_slave_config_t *fsm /**< slave state machine */
fp@1064:         )
fp@1064: {
fp@1064: }
fp@1064: 
fp@1064: /*****************************************************************************/