fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@238:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@238:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@238:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@238:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@238:  *  GNU General Public License for more details.
fp@238:  *
fp@238:  *  You should have received a copy of the GNU General Public License
fp@238:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@238:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@238:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    \file
fp@238:    EtherCAT finite state machines.
fp@238: */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #include "globals.h"
fp@238: #include "fsm.h"
fp@238: #include "master.h"
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *);
fp@260: void ec_fsm_master_broadcast(ec_fsm_t *);
fp@260: void ec_fsm_master_proc_states(ec_fsm_t *);
fp@251: void ec_fsm_master_scan(ec_fsm_t *);
fp@260: void ec_fsm_master_states(ec_fsm_t *);
fp@260: void ec_fsm_master_validate_vendor(ec_fsm_t *);
fp@260: void ec_fsm_master_validate_product(ec_fsm_t *);
fp@260: void ec_fsm_master_reconfigure(ec_fsm_t *);
fp@260: void ec_fsm_master_address(ec_fsm_t *);
fp@251: void ec_fsm_master_conf(ec_fsm_t *);
fp@269: void ec_fsm_master_eeprom(ec_fsm_t *);
fp@251: 
fp@251: void ec_fsm_slave_start_reading(ec_fsm_t *);
fp@292: void ec_fsm_slave_read_state(ec_fsm_t *);
fp@238: void ec_fsm_slave_read_base(ec_fsm_t *);
fp@238: void ec_fsm_slave_read_dl(ec_fsm_t *);
fp@266: void ec_fsm_slave_eeprom_size(ec_fsm_t *);
fp@266: void ec_fsm_slave_fetch_eeprom(ec_fsm_t *);
fp@266: void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *);
fp@251: void ec_fsm_slave_end(ec_fsm_t *);
fp@251: 
fp@251: void ec_fsm_slave_conf(ec_fsm_t *);
fp@251: void ec_fsm_slave_sync(ec_fsm_t *);
fp@251: void ec_fsm_slave_preop(ec_fsm_t *);
fp@251: void ec_fsm_slave_fmmu(ec_fsm_t *);
fp@251: void ec_fsm_slave_saveop(ec_fsm_t *);
fp@251: void ec_fsm_slave_op(ec_fsm_t *);
fp@251: void ec_fsm_slave_op2(ec_fsm_t *);
fp@238: 
fp@238: void ec_fsm_sii_start_reading(ec_fsm_t *);
fp@269: void ec_fsm_sii_read_check(ec_fsm_t *);
fp@269: void ec_fsm_sii_read_fetch(ec_fsm_t *);
fp@269: void ec_fsm_sii_start_writing(ec_fsm_t *);
fp@269: void ec_fsm_sii_write_check(ec_fsm_t *);
fp@269: void ec_fsm_sii_write_check2(ec_fsm_t *);
fp@260: void ec_fsm_sii_end(ec_fsm_t *);
fp@238: void ec_fsm_sii_error(ec_fsm_t *);
fp@238: 
fp@251: void ec_fsm_change_start(ec_fsm_t *);
fp@251: void ec_fsm_change_check(ec_fsm_t *);
fp@251: void ec_fsm_change_status(ec_fsm_t *);
fp@251: void ec_fsm_change_code(ec_fsm_t *);
fp@251: void ec_fsm_change_ack(ec_fsm_t *);
fp@251: void ec_fsm_change_ack2(ec_fsm_t *);
fp@251: void ec_fsm_change_end(ec_fsm_t *);
fp@251: void ec_fsm_change_error(ec_fsm_t *);
fp@251: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Constructor.
fp@260: */
fp@260: 
fp@260: int ec_fsm_init(ec_fsm_t *fsm, /**< finite state machine */
fp@260:                 ec_master_t *master /**< EtherCAT master */
fp@292:     )
fp@238: {
fp@238:     fsm->master = master;
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@260:     fsm->master_validation = 0;
fp@238: 
fp@293:     ec_datagram_init(&fsm->datagram);
fp@293:     if (ec_datagram_prealloc(&fsm->datagram, EC_MAX_DATA_SIZE)) {
fp@293:         EC_ERR("Failed to allocate FSM datagram.\n");
fp@238:         return -1;
fp@238:     }
fp@238: 
fp@238:     return 0;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Destructor.
fp@260: */
fp@260: 
fp@260: void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_clear(&fsm->datagram);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Resets the state machine.
fp@260: */
fp@260: 
fp@260: void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Executes the current state of the state machine.
fp@260: */
fp@260: 
fp@260: void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     fsm->master_state(fsm);
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@238:  *  master state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Master state: START.
fp@238:    Starts with getting slave count and slave states.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *fsm)
fp@238: {
fp@293:     ec_datagram_brd(&fsm->datagram, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, &fsm->datagram);
fp@260:     fsm->master_state = ec_fsm_master_broadcast;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: BROADCAST.
fp@260:    Processes the broadcast read slave count and slaves states.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_broadcast(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260:     unsigned int topology_change, states_change, i;
fp@238:     ec_slave_t *slave;
fp@260:     ec_master_t *master = fsm->master;
fp@238: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED) {
fp@260:         if (!master->device->link_state) {
fp@254:             fsm->master_slaves_responding = 0;
fp@260:             list_for_each_entry(slave, &master->slaves, list) {
fp@260:                 slave->online = 0;
fp@260:             }
fp@260:         }
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     topology_change = (datagram->working_counter !=
fp@260:                        fsm->master_slaves_responding);
fp@293:     states_change = (EC_READ_U8(datagram->data) != fsm->master_slave_states);
fp@293: 
fp@293:     fsm->master_slave_states = EC_READ_U8(datagram->data);
fp@293:     fsm->master_slaves_responding = datagram->working_counter;
fp@260: 
fp@260:     if (topology_change) {
fp@262:         EC_INFO("%i slave%s responding.\n",
fp@262:                 fsm->master_slaves_responding,
fp@262:                 fsm->master_slaves_responding == 1 ? "" : "s");
fp@262: 
fp@262:         if (master->mode == EC_MASTER_MODE_RUNNING) {
fp@262:             if (fsm->master_slaves_responding == master->slave_count) {
fp@262:                 fsm->master_validation = 1; // start validation later
fp@262:             }
fp@262:             else {
fp@262:                 EC_WARN("Invalid slave count. Bus in tainted state.\n");
fp@262:             }
fp@260:         }
fp@260:     }
fp@260: 
fp@260:     if (states_change) {
fp@260:         EC_INFO("Slave states: ");
fp@260:         ec_print_states(fsm->master_slave_states);
fp@260:         printk(".\n");
fp@260:     }
fp@260: 
fp@260:     // topology change in free-run mode: clear all slaves and scan the bus
fp@260:     if (topology_change && master->mode == EC_MASTER_MODE_FREERUN) {
fp@260:         EC_INFO("Scanning bus.\n");
fp@260: 
fp@260:         ec_master_eoe_stop(master);
fp@260:         ec_master_clear_slaves(master);
fp@260: 
fp@260:         if (!fsm->master_slaves_responding) {
fp@260:             // no slaves present -> finish state machine.
fp@260:             fsm->master_state = ec_fsm_master_start;
fp@251:             fsm->master_state(fsm); // execute immediately
fp@251:             return;
fp@251:         }
fp@251: 
fp@260:         // init slaves
fp@260:         for (i = 0; i < fsm->master_slaves_responding; i++) {
fp@260:             if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@260:                                                  GFP_ATOMIC))) {
fp@260:                 EC_ERR("Failed to allocate slave %i!\n", i);
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             if (ec_slave_init(slave, master, i, i + 1)) {
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             if (kobject_add(&slave->kobj)) {
fp@260:                 EC_ERR("Failed to add kobject.\n");
fp@260:                 kobject_put(&slave->kobj); // free
fp@260:                 fsm->master_state = ec_fsm_master_start;
fp@260:                 fsm->master_state(fsm); // execute immediately
fp@260:                 return;
fp@260:             }
fp@260: 
fp@260:             list_add_tail(&slave->list, &master->slaves);
fp@260:         }
fp@260: 
fp@260:         // begin scanning of slaves
fp@260:         fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@260:         fsm->slave_state = ec_fsm_slave_start_reading;
fp@260:         fsm->master_state = ec_fsm_master_scan;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // fetch state from each slave
fp@260:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@293:     ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(master, &fsm->datagram);
fp@260:     fsm->master_state = ec_fsm_master_states;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master action: Get state of next slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_action_next_slave_state(ec_fsm_t *fsm
fp@260:                                            /**< finite state machine */)
fp@260: {
fp@260:     ec_master_t *master = fsm->master;
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@260:     // have all states been read?
fp@292:     if (slave->list.next != &master->slaves) {
fp@292:         // process next slave
fp@292:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@293:         ec_datagram_nprd(&fsm->datagram, fsm->slave->station_address,
fp@293:                          0x0130, 2);
fp@293:         ec_master_queue_datagram(master, &fsm->datagram);
fp@292:         fsm->master_state = ec_fsm_master_states;
fp@292:         return;
fp@292:     }
fp@292: 
fp@292:     // all slave stated read; check, if a bus validation has to be done
fp@292:     if (fsm->master_validation) {
fp@292:         fsm->master_validation = 0;
fp@292:         list_for_each_entry(slave, &master->slaves, list) {
fp@292:             if (slave->online) continue;
fp@292: 
fp@292:             // At least one slave is offline. validate!
fp@292:             EC_INFO("Validating bus.\n");
fp@292:             fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@292:             fsm->master_state = ec_fsm_master_validate_vendor;
fp@292:             fsm->sii_offset = 0x0008; // vendor ID
fp@292:             fsm->sii_mode = 0;
fp@292:             fsm->sii_state = ec_fsm_sii_start_reading;
fp@292:             fsm->sii_state(fsm); // execute immediately
fp@292:             return;
fp@251:         }
fp@292:     }
fp@292: 
fp@292:     fsm->master_state = ec_fsm_master_proc_states;
fp@292:     fsm->master_state(fsm); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: STATES.
fp@260:    Fetches the AL- and online state of a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_states(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260:     uint8_t new_state;
fp@260: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED) {
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // did the slave not respond to its station address?
fp@293:     if (datagram->working_counter != 1) {
fp@260:         if (slave->online) {
fp@260:             slave->online = 0;
fp@260:             EC_INFO("Slave %i: offline.\n", slave->ring_position);
fp@260:         }
fp@260:         ec_fsm_master_action_next_slave_state(fsm);
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // slave responded
fp@293:     new_state = EC_READ_U8(datagram->data);
fp@260:     if (!slave->online) { // slave was offline before
fp@260:         slave->online = 1;
fp@291:         slave->error_flag = 0; // clear error flag
fp@260:         slave->current_state = new_state;
fp@260:         EC_INFO("Slave %i: online (", slave->ring_position);
fp@260:         ec_print_states(new_state);
fp@260:         printk(").\n");
fp@260:     }
fp@260:     else if (new_state != slave->current_state) {
fp@260:         EC_INFO("Slave %i: ", slave->ring_position);
fp@260:         ec_print_states(slave->current_state);
fp@260:         printk(" -> ");
fp@260:         ec_print_states(new_state);
fp@260:         printk(".\n");
fp@260:         slave->current_state = new_state;
fp@260:     }
fp@260: 
fp@260:     ec_fsm_master_action_next_slave_state(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: PROC_STATES.
fp@260:    Processes the slave states.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_master_t *master = fsm->master;
fp@260:     ec_slave_t *slave;
fp@260: 
fp@260:     // check if any slaves are not in the state, they're supposed to be
fp@260:     list_for_each_entry(slave, &master->slaves, list) {
fp@291:         if (slave->error_flag ||
fp@291:             !slave->online ||
fp@260:             slave->requested_state == EC_SLAVE_STATE_UNKNOWN ||
fp@260:             slave->current_state == slave->requested_state) continue;
fp@260: 
fp@260:         EC_INFO("Changing state of slave %i from ", slave->ring_position);
fp@260:         ec_print_states(slave->current_state);
fp@260:         printk(" to ");
fp@260:         ec_print_states(slave->requested_state);
fp@260:         printk(".\n");
fp@260: 
fp@260:         fsm->slave = slave;
fp@260:         fsm->slave_state = ec_fsm_slave_conf;
fp@260:         fsm->change_new = EC_SLAVE_STATE_INIT;
fp@260:         fsm->change_state = ec_fsm_change_start;
fp@260:         fsm->master_state = ec_fsm_master_conf;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@269:     if (master->mode == EC_MASTER_MODE_FREERUN) {
fp@269:         // nothing to configure. check for pending EEPROM write operations.
fp@269:         list_for_each_entry(slave, &master->slaves, list) {
fp@269:             if (!slave->new_eeprom_data) continue;
fp@269: 
fp@292:             if (!slave->online || slave->error_flag) {
fp@292:                 kfree(slave->new_eeprom_data);
fp@292:                 slave->new_eeprom_data = NULL;
fp@292:                 EC_ERR("Discarding EEPROM data, slave %i not ready.\n",
fp@292:                        slave->ring_position);
fp@292:                 continue;
fp@292:             }
fp@292: 
fp@269:             // found pending EEPROM write operation. execute it!
fp@269:             EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fp@269:             fsm->sii_offset = 0x0000;
fp@269:             memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
fp@269:             fsm->sii_mode = 1;
fp@269:             fsm->sii_state = ec_fsm_sii_start_writing;
fp@269:             fsm->slave = slave;
fp@269:             fsm->master_state = ec_fsm_master_eeprom;
fp@269:             fsm->master_state(fsm); // execute immediately
fp@269:             return;
fp@269:         }
fp@269:     }
fp@269: 
fp@269:     // nothing to do. restart master state machine.
fp@260:     fsm->master_state = ec_fsm_master_start;
fp@260:     fsm->master_state(fsm); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: VALIDATE_VENDOR.
fp@260:    Validates the vendor ID of a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@260:     fsm->sii_state(fsm); // execute SII state machine
fp@260: 
fp@260:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@260:         EC_ERR("Failed to validate vendor ID of slave %i.\n",
fp@260:                slave->ring_position);
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     if (fsm->sii_state != ec_fsm_sii_end) return;
fp@260: 
fp@269:     if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
fp@260:         EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // vendor ID is ok. check product code.
fp@260:     fsm->master_state = ec_fsm_master_validate_product;
fp@260:     fsm->sii_offset = 0x000A; // product code
fp@260:     fsm->sii_mode = 0;
fp@260:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@260:     fsm->sii_state(fsm); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: VALIDATE_PRODUCT.
fp@260:    Validates the product ID of a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@260:     fsm->sii_state(fsm); // execute SII state machine
fp@260: 
fp@260:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@260:         EC_ERR("Failed to validate product code of slave %i.\n",
fp@260:                slave->ring_position);
fp@260:         fsm->master_state = ec_fsm_master_start;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     if (fsm->sii_state != ec_fsm_sii_end) return;
fp@260: 
fp@269:     if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
fp@260:         EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
fp@260:         EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
fp@269:                EC_READ_U32(fsm->sii_value));
fp@260:         fsm->master_state = ec_fsm_master_start;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // have all states been validated?
fp@260:     if (slave->list.next == &fsm->master->slaves) {
fp@260:         fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
fp@260:         fsm->master_state = ec_fsm_master_reconfigure;
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // validate next slave
fp@260:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@260:     fsm->master_state = ec_fsm_master_validate_vendor;
fp@260:     fsm->sii_offset = 0x0008; // vendor ID
fp@260:     fsm->sii_mode = 0;
fp@260:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@260:     fsm->sii_state(fsm); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: RECONFIGURE.
fp@260:    Looks for slave, that have lost their configuration and writes
fp@260:    their station address, so that they can be reconfigured later.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_reconfigure(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@260: 
fp@260:     while (fsm->slave->online) {
fp@260:         if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@251:             fsm->master_state = ec_fsm_master_start;
fp@260:             fsm->master_state(fsm); // execute immediately
fp@238:             return;
fp@238:         }
fp@260:         // check next slave
fp@260:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@260:     }
fp@260: 
fp@260:     EC_INFO("Reinitializing slave %i.\n", fsm->slave->ring_position);
fp@260: 
fp@260:     // write station address
fp@293:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@260:     fsm->master_state = ec_fsm_master_address;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: ADDRESS.
fp@260:    Checks, if the new station address has been written to the slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_address(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@260:         EC_ERR("Failed to write station address on slave %i.\n",
fp@260:                slave->ring_position);
fp@260:     }
fp@260: 
fp@260:     if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@260:         fsm->master_state = ec_fsm_master_start;
fp@260:         fsm->master_state(fsm); // execute immediately
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // check next slave
fp@260:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@260:     fsm->master_state = ec_fsm_master_reconfigure;
fp@238:     fsm->master_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Master state: SCAN.
fp@260:    Executes the sub-statemachine for the scanning of a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_scan(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@251:     ec_slave_t *slave = fsm->slave;
fp@260:     uint16_t coupler_index, coupler_subindex;
fp@260:     uint16_t reverse_coupler_index, current_coupler_index;
fp@260:     ec_slave_ident_t *ident;
fp@238: 
fp@238:     fsm->slave_state(fsm); // execute slave state machine
fp@238: 
fp@251:     if (fsm->slave_state != ec_fsm_slave_end) return;
fp@238: 
fp@238:     // have all slaves been fetched?
fp@260:     if (slave->list.next == &master->slaves) {
fp@251:         EC_INFO("Bus scanning completed.\n");
fp@251: 
fp@251:         // identify all slaves and calculate coupler addressing
fp@251: 
fp@251:         coupler_index = 0;
fp@251:         reverse_coupler_index = 0xFFFF;
fp@251:         current_coupler_index = 0x3FFF;
fp@251:         coupler_subindex = 0;
fp@251: 
fp@251:         list_for_each_entry(slave, &master->slaves, list)
fp@251:         {
fp@251:             // search for identification in "database"
fp@251:             ident = slave_idents;
fp@251:             while (ident->type) {
fp@251:                 if (ident->vendor_id == slave->sii_vendor_id
fp@251:                     && ident->product_code == slave->sii_product_code) {
fp@251:                     slave->type = ident->type;
fp@251:                     break;
fp@251:                 }
fp@251:                 ident++;
fp@251:             }
fp@251: 
fp@251:             if (!slave->type) {
fp@292:                 EC_WARN("Unknown slave device (vendor 0x%08X,"
fp@251:                         " code 0x%08X) at position %i.\n",
fp@251:                         slave->sii_vendor_id, slave->sii_product_code,
fp@251:                         slave->ring_position);
fp@251:             }
fp@251:             else {
fp@251:                 // if the slave is a bus coupler, change adressing base
fp@251:                 if (slave->type->special == EC_TYPE_BUS_COUPLER) {
fp@251:                     if (slave->sii_alias)
fp@251:                         current_coupler_index = reverse_coupler_index--;
fp@251:                     else
fp@251:                         current_coupler_index = coupler_index++;
fp@251:                     coupler_subindex = 0;
fp@251:                 }
fp@251:             }
fp@251: 
fp@251:             // determine initial state.
fp@290:             if ((slave->type &&
fp@292:                  (slave->type->special == EC_TYPE_BUS_COUPLER ||
fp@292:                   slave->type->special == EC_TYPE_INFRA))) {
fp@251:                 slave->requested_state = EC_SLAVE_STATE_OP;
fp@251:             }
fp@251:             else {
fp@251:                 if (master->mode == EC_MASTER_MODE_RUNNING)
fp@251:                     slave->requested_state = EC_SLAVE_STATE_PREOP;
fp@251:                 else
fp@251:                     slave->requested_state = EC_SLAVE_STATE_INIT;
fp@251:             }
fp@291:             slave->error_flag = 0;
fp@251: 
fp@251:             // calculate coupler-based slave address
fp@251:             slave->coupler_index = current_coupler_index;
fp@251:             slave->coupler_subindex = coupler_subindex;
fp@251:             coupler_subindex++;
fp@251:         }
fp@251: 
fp@260:         if (master->mode == EC_MASTER_MODE_FREERUN) {
fp@260:             // start EoE processing
fp@260:             ec_master_eoe_start(master);
fp@260:         }
fp@260: 
fp@251:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // process next slave
fp@238:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@251:     fsm->slave_state = ec_fsm_slave_start_reading;
fp@238:     fsm->slave_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Master state: CONF.
fp@260:    Starts configuring a slave.
fp@260: */
fp@260: 
fp@260: void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@251:     fsm->slave_state(fsm); // execute slave's state machine
fp@251:     if (fsm->slave_state != ec_fsm_slave_end) return;
fp@260:     fsm->master_state = ec_fsm_master_proc_states;
fp@238:     fsm->master_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@269:    Master state: EEPROM.
fp@269: */
fp@269: 
fp@269: void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fp@269: {
fp@269:     ec_slave_t *slave = fsm->slave;
fp@269: 
fp@269:     fsm->sii_state(fsm); // execute SII state machine
fp@269: 
fp@269:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@269:         EC_ERR("Failed to write EEPROM contents to slave %i.\n",
fp@269:                slave->ring_position);
fp@269:         kfree(slave->new_eeprom_data);
fp@269:         slave->new_eeprom_data = NULL;
fp@269:         fsm->master_state = ec_fsm_master_start;
fp@269:         fsm->master_state(fsm); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@269:     if (fsm->sii_state != ec_fsm_sii_end) return;
fp@269: 
fp@269:     fsm->sii_offset++;
fp@269:     if (fsm->sii_offset < slave->new_eeprom_size) {
fp@269:         memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
fp@269:         fsm->sii_state = ec_fsm_sii_start_writing;
fp@269:         fsm->sii_state(fsm); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@269:     // finished writing EEPROM
fp@269:     EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
fp@269:     kfree(slave->new_eeprom_data);
fp@269:     slave->new_eeprom_data = NULL;
fp@269: 
fp@269:     // restart master state machine.
fp@269:     fsm->master_state = ec_fsm_master_start;
fp@269:     fsm->master_state(fsm); // execute immediately
fp@269:     return;
fp@269: }
fp@269: 
fp@238: /******************************************************************************
fp@238:  *  slave state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Slave state: START_READING.
fp@238:    First state of the slave state machine. Writes the station address to the
fp@238:    slave, according to its ring position.
fp@238: */
fp@238: 
fp@260: void ec_fsm_slave_start_reading(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@238: 
fp@238:     // write station address
fp@293:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@292:     fsm->slave_state = ec_fsm_slave_read_state;
fp@255: }
fp@255: 
fp@255: /*****************************************************************************/
fp@255: 
fp@255: /**
fp@260:    Slave state: READ_STATUS.
fp@260: */
fp@260: 
fp@292: void ec_fsm_slave_read_state(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         fsm->slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@292:         EC_ERR("Failed to write station address of slave %i.\n",
fp@238:                fsm->slave->ring_position);
fp@292:         return;
fp@292:     }
fp@292: 
fp@292:     // Read AL state
fp@293:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@255:     fsm->slave_state = ec_fsm_slave_read_base;
fp@255: }
fp@255: 
fp@255: /*****************************************************************************/
fp@255: 
fp@255: /**
fp@260:    Slave state: READ_BASE.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_read_base(ec_fsm_t *fsm /**< finite state machine */)
fp@255: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@292:         EC_ERR("Failed to read AL state of slave %i.\n",
fp@255:                fsm->slave->ring_position);
fp@255:         return;
fp@255:     }
fp@255: 
fp@293:     slave->current_state = EC_READ_U8(datagram->data);
fp@255:     if (slave->current_state & EC_ACK) {
fp@292:         EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
fp@255:                 slave->ring_position, slave->current_state);
fp@255:         slave->current_state &= 0x0F;
fp@255:     }
fp@255: 
fp@238:     // read base data
fp@293:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@238:     fsm->slave_state = ec_fsm_slave_read_dl;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Slave state: READ_DL.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_read_dl(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@292:         EC_ERR("Failed to read base data of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     slave->base_type       = EC_READ_U8 (datagram->data);
fp@293:     slave->base_revision   = EC_READ_U8 (datagram->data + 1);
fp@293:     slave->base_build      = EC_READ_U16(datagram->data + 2);
fp@293:     slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
fp@293:     slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
fp@238: 
fp@238:     if (slave->base_fmmu_count > EC_MAX_FMMUS)
fp@238:         slave->base_fmmu_count = EC_MAX_FMMUS;
fp@238: 
fp@238:     // read data link status
fp@293:     ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
fp@293:     ec_master_queue_datagram(slave->master, datagram);
fp@266:     fsm->slave_state = ec_fsm_slave_eeprom_size;
fp@266: }
fp@266: 
fp@266: /*****************************************************************************/
fp@266: 
fp@266: /**
fp@266:    Slave state: EEPROM_SIZE.
fp@266:    Read the actual size of the EEPROM to allocate the EEPROM image.
fp@266: */
fp@266: 
fp@266: void ec_fsm_slave_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@238:     ec_slave_t *slave = fsm->slave;
fp@238:     uint16_t dl_status;
fp@238:     unsigned int i;
fp@238: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@291:         fsm->slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@292:         EC_ERR("Failed to read DL status of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@293:     dl_status = EC_READ_U16(datagram->data);
fp@238:     for (i = 0; i < 4; i++) {
fp@238:         slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
fp@238:         slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
fp@238:         slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
fp@238:     }
fp@238: 
fp@266:     // Start fetching EEPROM size
fp@266: 
fp@266:     fsm->sii_offset = 0x0040; // first category header
fp@260:     fsm->sii_mode = 1;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@266:     fsm->slave_state = ec_fsm_slave_fetch_eeprom;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@266:    Slave state: FETCH_EEPROM.
fp@266: */
fp@266: 
fp@266: void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
fp@266: {
fp@266:     ec_slave_t *slave = fsm->slave;
fp@266:     uint16_t cat_type, cat_size;
fp@238: 
fp@238:     // execute SII state machine
fp@238:     fsm->sii_state(fsm);
fp@238: 
fp@238:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@266:         EC_ERR("Failed to read EEPROM size of slave %i.\n",
fp@266:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     if (fsm->sii_state != ec_fsm_sii_end) return;
fp@238: 
fp@269:     cat_type = EC_READ_U16(fsm->sii_value);
fp@269:     cat_size = EC_READ_U16(fsm->sii_value + 2);
fp@266: 
fp@266:     if (cat_type != 0xFFFF) { // not the last category
fp@266:         fsm->sii_offset += cat_size + 2;
fp@266:         fsm->sii_state = ec_fsm_sii_start_reading;
fp@266:         fsm->sii_state(fsm); // execute state immediately
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     slave->eeprom_size = (fsm->sii_offset + 1) * 2;
fp@266: 
fp@266:     if (slave->eeprom_data) {
fp@266:         EC_INFO("Freeing old EEPROM data on slave %i...\n",
fp@266:                 slave->ring_position);
fp@266:         kfree(slave->eeprom_data);
fp@266:     }
fp@266: 
fp@266:     if (!(slave->eeprom_data =
fp@266:           (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
fp@291:         fsm->slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@266:         EC_ERR("Failed to allocate EEPROM data on slave %i.\n",
fp@266:                slave->ring_position);
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     // Start fetching EEPROM contents
fp@266: 
fp@266:     fsm->sii_offset = 0x0000;
fp@266:     fsm->sii_mode = 1;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@266:     fsm->slave_state = ec_fsm_slave_fetch_eeprom2;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@266:    Slave state: FETCH_EEPROM2.
fp@266: */
fp@266: 
fp@266: void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
fp@266: {
fp@266:     ec_slave_t *slave = fsm->slave;
fp@266:     uint16_t *cat_word, cat_type, cat_size;
fp@266: 
fp@238:     // execute SII state machine
fp@238:     fsm->sii_state(fsm);
fp@238: 
fp@238:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@266:         fsm->slave_state = ec_fsm_slave_end;
fp@266:         EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
fp@266:                slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     if (fsm->sii_state != ec_fsm_sii_end) return;
fp@238: 
fp@266:     // 2 words fetched
fp@266: 
fp@266:     if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
fp@269:         memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
fp@266:     }
fp@266:     else { // copy the last word
fp@269:         memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
fp@266:     }
fp@266: 
fp@266:     if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
fp@266:         // fetch the next 2 words
fp@266:         fsm->sii_offset += 2;
fp@238:         fsm->sii_state = ec_fsm_sii_start_reading;
fp@266:         fsm->sii_state(fsm); // execute state immediately
fp@266:         return;
fp@266:     }
fp@266: 
fp@266:     // Evaluate EEPROM contents
fp@266: 
fp@266:     slave->sii_alias =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
fp@266:     slave->sii_vendor_id =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
fp@266:     slave->sii_product_code =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
fp@266:     slave->sii_revision_number =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
fp@266:     slave->sii_serial_number =
fp@266:         EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
fp@266:     slave->sii_rx_mailbox_offset =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
fp@266:     slave->sii_rx_mailbox_size =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
fp@266:     slave->sii_tx_mailbox_offset =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
fp@266:     slave->sii_tx_mailbox_size =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
fp@266:     slave->sii_mailbox_protocols =
fp@266:         EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
fp@266: 
fp@266:     // evaluate category data
fp@266:     cat_word = (uint16_t *) slave->eeprom_data + 0x0040;
fp@266:     while (EC_READ_U16(cat_word) != 0xFFFF) {
fp@266:         cat_type = EC_READ_U16(cat_word) & 0x7FFF;
fp@266:         cat_size = EC_READ_U16(cat_word + 1);
fp@266: 
fp@266:         switch (cat_type) {
fp@266:             case 0x000A:
fp@266:                 if (ec_slave_fetch_strings(slave, (uint8_t *) (cat_word + 2)))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x001E:
fp@266:                 if (ec_slave_fetch_general(slave, (uint8_t *) (cat_word + 2)))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x0028:
fp@266:                 break;
fp@266:             case 0x0029:
fp@266:                 if (ec_slave_fetch_sync(slave, (uint8_t *) (cat_word + 2),
fp@266:                                         cat_size))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x0032:
fp@266:                 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
fp@266:                                        cat_size, EC_TX_PDO))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             case 0x0033:
fp@266:                 if (ec_slave_fetch_pdo(slave, (uint8_t *) (cat_word + 2),
fp@266:                                        cat_size, EC_RX_PDO))
fp@266:                     goto end;
fp@266:                 break;
fp@266:             default:
fp@266:                 EC_WARN("Unknown category type 0x%04X in slave %i.\n",
fp@266:                         cat_type, slave->ring_position);
fp@266:         }
fp@266: 
fp@266:         cat_word += cat_size + 2;
fp@266:     }
fp@266: 
fp@292: end:
fp@291:     fsm->slave->error_flag = 1;
fp@251:     fsm->slave_state = ec_fsm_slave_end;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: CONF.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_conf(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@251:     ec_slave_t *slave = fsm->slave;
fp@251:     ec_master_t *master = fsm->master;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@251: 
fp@251:     fsm->change_state(fsm); // execute state change state machine
fp@251: 
fp@251:     if (fsm->change_state == ec_fsm_change_error) {
fp@292:         slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (fsm->change_state != ec_fsm_change_end) return;
fp@251: 
fp@251:     // slave is now in INIT
fp@251:     if (slave->current_state == slave->requested_state) {
fp@292:         fsm->slave_state = ec_fsm_slave_end; // successful
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // check for slave registration
fp@251:     if (!slave->type) {
fp@251:         EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
fp@251:     }
fp@251: 
fp@251:     // check and reset CRC fault counters
fp@251:     //ec_slave_check_crc(slave);
fp@251: 
fp@251:     if (!slave->base_fmmu_count) { // no fmmus
fp@251:         fsm->slave_state = ec_fsm_slave_sync;
fp@251:         fsm->slave_state(fsm); // execute immediately
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // reset FMMUs
fp@293:     ec_datagram_npwr(datagram, slave->station_address, 0x0600,
fp@293:                      EC_FMMU_SIZE * slave->base_fmmu_count);
fp@293:     memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@293:     ec_master_queue_datagram(master, datagram);
fp@251:     fsm->slave_state = ec_fsm_slave_sync;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: SYNC.
fp@260:    Configure sync managers.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_sync(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@251:     ec_slave_t *slave = fsm->slave;
fp@251:     unsigned int j;
fp@251:     const ec_sync_t *sync;
fp@251:     ec_eeprom_sync_t *eeprom_sync, mbox_sync;
fp@251: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@260:         EC_ERR("Failed to reset FMMUs of slave %i.\n",
fp@251:                slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (!slave->base_sync_count) { // no sync managers
fp@251:         fsm->slave_state = ec_fsm_slave_preop;
fp@251:         fsm->slave_state(fsm); // execute immediately
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // configure sync managers
fp@293:     ec_datagram_npwr(datagram, slave->station_address, 0x0800,
fp@293:                      EC_SYNC_SIZE * slave->base_sync_count);
fp@293:     memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
fp@251: 
fp@251:     // known slave type, take type's SM information
fp@251:     if (slave->type) {
fp@251:         for (j = 0; slave->type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
fp@251:             sync = slave->type->sync_managers[j];
fp@293:             ec_sync_config(sync, slave, datagram->data + EC_SYNC_SIZE * j);
fp@251:         }
fp@251:     }
fp@251: 
fp@251:     // unknown type, but slave has mailbox
fp@251:     else if (slave->sii_mailbox_protocols)
fp@251:     {
fp@251:         // does it supply sync manager configurations in its EEPROM?
fp@251:         if (!list_empty(&slave->eeprom_syncs)) {
fp@251:             list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
fp@251:                 if (eeprom_sync->index >= slave->base_sync_count) {
fp@291:                     fsm->slave->error_flag = 1;
fp@251:                     fsm->slave_state = ec_fsm_slave_end;
fp@292:                     EC_ERR("Invalid sync manager configuration found!");
fp@251:                     return;
fp@251:                 }
fp@298:                 ec_eeprom_sync_config(eeprom_sync, slave,
fp@293:                                       datagram->data + EC_SYNC_SIZE
fp@251:                                       * eeprom_sync->index);
fp@251:             }
fp@251:         }
fp@251: 
fp@251:         // no sync manager information; guess mailbox settings
fp@251:         else {
fp@251:             mbox_sync.physical_start_address =
fp@251:                 slave->sii_rx_mailbox_offset;
fp@251:             mbox_sync.length = slave->sii_rx_mailbox_size;
fp@251:             mbox_sync.control_register = 0x26;
fp@251:             mbox_sync.enable = 1;
fp@298:             ec_eeprom_sync_config(&mbox_sync, slave, datagram->data);
fp@251: 
fp@251:             mbox_sync.physical_start_address =
fp@251:                 slave->sii_tx_mailbox_offset;
fp@251:             mbox_sync.length = slave->sii_tx_mailbox_size;
fp@251:             mbox_sync.control_register = 0x22;
fp@251:             mbox_sync.enable = 1;
fp@298:             ec_eeprom_sync_config(&mbox_sync, slave,
fp@293:                                   datagram->data + EC_SYNC_SIZE);
fp@251:         }
fp@251: 
fp@251:         EC_INFO("Mailbox configured for unknown slave %i\n",
fp@251:                 slave->ring_position);
fp@251:     }
fp@251: 
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@251:     fsm->slave_state = ec_fsm_slave_preop;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: PREOP.
fp@260:    Change slave state to PREOP.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_preop(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         slave->error_flag = 1;
fp@292:         fsm->slave_state = ec_fsm_slave_end;
fp@260:         EC_ERR("Failed to set sync managers on slave %i.\n",
fp@251:                slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     fsm->change_new = EC_SLAVE_STATE_PREOP;
fp@251:     fsm->change_state = ec_fsm_change_start;
fp@251:     fsm->slave_state = ec_fsm_slave_fmmu;
fp@251:     fsm->change_state(fsm); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: FMMU.
fp@260:    Configure FMMUs.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_fmmu(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@251:     ec_slave_t *slave = fsm->slave;
fp@251:     ec_master_t *master = fsm->master;
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@251:     unsigned int j;
fp@251: 
fp@251:     fsm->change_state(fsm); // execute state change state machine
fp@251: 
fp@251:     if (fsm->change_state == ec_fsm_change_error) {
fp@292:         slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (fsm->change_state != ec_fsm_change_end) return;
fp@251: 
fp@251:     // slave is now in PREOP
fp@251:     if (slave->current_state == slave->requested_state) {
fp@292:         fsm->slave_state = ec_fsm_slave_end; // successful
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // stop activation here for slaves without type
fp@251:     if (!slave->type) {
fp@292:         fsm->slave_state = ec_fsm_slave_end; // successful
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (!slave->base_fmmu_count) {
fp@251:         fsm->slave_state = ec_fsm_slave_saveop;
fp@251:         fsm->slave_state(fsm); // execute immediately
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // configure FMMUs
fp@293:     ec_datagram_npwr(datagram, slave->station_address,
fp@293:                      0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@293:     memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@251:     for (j = 0; j < slave->fmmu_count; j++) {
fp@275:         ec_fmmu_config(&slave->fmmus[j], slave,
fp@293:                        datagram->data + EC_FMMU_SIZE * j);
fp@293:     }
fp@293: 
fp@293:     ec_master_queue_datagram(master, datagram);
fp@251:     fsm->slave_state = ec_fsm_slave_saveop;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: SAVEOP.
fp@260:    Set slave state to SAVEOP.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_saveop(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (fsm->slave->base_fmmu_count && (datagram->state != EC_CMD_RECEIVED ||
fp@293:                                         datagram->working_counter != 1)) {
fp@291:         fsm->slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@292:         EC_ERR("Failed to set FMMUs on slave %i.\n",
fp@292:                fsm->slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // set state to SAVEOP
fp@251:     fsm->slave_state = ec_fsm_slave_op;
fp@251:     fsm->change_new = EC_SLAVE_STATE_SAVEOP;
fp@251:     fsm->change_state = ec_fsm_change_start;
fp@251:     fsm->change_state(fsm); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: OP.
fp@260:    Set slave state to OP.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_op(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@251:     fsm->change_state(fsm); // execute state change state machine
fp@251: 
fp@251:     if (fsm->change_state == ec_fsm_change_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (fsm->change_state != ec_fsm_change_end) return;
fp@251: 
fp@251:     // slave is now in SAVEOP
fp@251:     if (fsm->slave->current_state == fsm->slave->requested_state) {
fp@292:         fsm->slave_state = ec_fsm_slave_end; // successful
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     // set state to OP
fp@251:     fsm->slave_state = ec_fsm_slave_op2;
fp@251:     fsm->change_new = EC_SLAVE_STATE_OP;
fp@251:     fsm->change_state = ec_fsm_change_start;
fp@251:     fsm->change_state(fsm); // execute immediately
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: OP2
fp@260:    Executes the change state machine, until the OP state is set.
fp@260: */
fp@260: 
fp@260: void ec_fsm_slave_op2(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@251:     fsm->change_state(fsm); // execute state change state machine
fp@251: 
fp@251:     if (fsm->change_state == ec_fsm_change_error) {
fp@292:         fsm->slave->error_flag = 1;
fp@251:         fsm->slave_state = ec_fsm_slave_end;
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     if (fsm->change_state != ec_fsm_change_end) return;
fp@251: 
fp@251:     // slave is now in OP
fp@292:     fsm->slave_state = ec_fsm_slave_end; // successful
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Slave state: END.
fp@238:    End state of the slave state machine.
fp@238: */
fp@238: 
fp@260: void ec_fsm_slave_end(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@238:  *  SII state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    SII state: START_READING.
fp@238:    Starts reading the slave information interface.
fp@238: */
fp@238: 
fp@260: void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@238: 
fp@238:     // initiate read operation
fp@260:     if (fsm->sii_mode) {
fp@293:         ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
fp@260:     }
fp@260:     else {
fp@293:         ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
fp@293:     }
fp@293: 
fp@293:     EC_WRITE_U8 (datagram->data,     0x00); // read-only access
fp@293:     EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
fp@293:     EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@269:     fsm->sii_state = ec_fsm_sii_read_check;
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@269:    SII state: READ_CHECK.
fp@293:    Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
fp@238: */
fp@238: 
fp@269: void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@293:         EC_ERR("SII: Reception of read datagram failed.\n");
fp@238:         fsm->sii_state = ec_fsm_sii_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     fsm->sii_start = get_cycles();
fp@260: 
fp@293:     // issue check/fetch datagram
fp@260:     if (fsm->sii_mode) {
fp@293:         ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
fp@260:     }
fp@260:     else {
fp@293:         ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
fp@293:     }
fp@293: 
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@269:     fsm->sii_state = ec_fsm_sii_read_fetch;
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@269:    SII state: READ_FETCH.
fp@293:    Fetches the result of an SII-read datagram.
fp@238: */
fp@238: 
fp@269: void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@293:         EC_ERR("SII: Reception of check/fetch datagram failed.\n");
fp@238:         fsm->sii_state = ec_fsm_sii_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // check "busy bit"
fp@293:     if (EC_READ_U8(datagram->data + 1) & 0x81) {
fp@260:         // still busy... timeout?
fp@260:         if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
fp@260:             EC_ERR("SII: Timeout.\n");
fp@260:             fsm->sii_state = ec_fsm_sii_error;
fp@260: #if 0
fp@260:             EC_DBG("SII busy: %02X %02X %02X %02X\n",
fp@293:                    EC_READ_U8(datagram->data + 0),
fp@293:                    EC_READ_U8(datagram->data + 1),
fp@293:                    EC_READ_U8(datagram->data + 2),
fp@293:                    EC_READ_U8(datagram->data + 3));
fp@260: #endif
fp@260:         }
fp@260: 
fp@293:         // issue check/fetch datagram again
fp@260:         if (fsm->sii_mode) {
fp@293:             ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
fp@260:         }
fp@260:         else {
fp@293:             ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
fp@260:         }
fp@293:         ec_master_queue_datagram(fsm->master, datagram);
fp@260:         return;
fp@260:     }
fp@260: 
fp@260: #if 0
fp@260:     EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
fp@293:            EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
fp@293:            EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
fp@293:            EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
fp@293:            EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
fp@260: #endif
fp@260: 
fp@260:     // SII value received.
fp@293:     memcpy(fsm->sii_value, datagram->data + 6, 4);
fp@260:     fsm->sii_state = ec_fsm_sii_end;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@269:    SII state: START_WRITING.
fp@269:    Starts reading the slave information interface.
fp@269: */
fp@269: 
fp@269: void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
fp@269: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@269: 
fp@269:     // initiate write operation
fp@293:     ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
fp@293:     EC_WRITE_U8 (datagram->data,     0x01); // enable write access
fp@293:     EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
fp@293:     EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
fp@293:     memcpy(datagram->data + 6, fsm->sii_value, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@269:     fsm->sii_state = ec_fsm_sii_write_check;
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@269:    SII state: WRITE_CHECK.
fp@269: */
fp@269: 
fp@269: void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
fp@269: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@293:         EC_ERR("SII: Reception of write datagram failed.\n");
fp@269:         fsm->sii_state = ec_fsm_sii_error;
fp@269:         return;
fp@269:     }
fp@269: 
fp@269:     fsm->sii_start = get_cycles();
fp@269: 
fp@293:     // issue check/fetch datagram
fp@293:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@269:     fsm->sii_state = ec_fsm_sii_write_check2;
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@269:    SII state: WRITE_CHECK2.
fp@269: */
fp@269: 
fp@269: void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
fp@269: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@293:         EC_ERR("SII: Reception of write check datagram failed.\n");
fp@269:         fsm->sii_state = ec_fsm_sii_error;
fp@269:         return;
fp@269:     }
fp@269: 
fp@293:     if (EC_READ_U8(datagram->data + 1) & 0x82) {
fp@269:         // still busy... timeout?
fp@269:         if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
fp@269:             EC_ERR("SII: Write timeout.\n");
fp@269:             fsm->sii_state = ec_fsm_sii_error;
fp@269:         }
fp@269: 
fp@293:         // issue check/fetch datagram again
fp@293:         ec_master_queue_datagram(fsm->master, datagram);
fp@293:     }
fp@293:     else if (EC_READ_U8(datagram->data + 1) & 0x40) {
fp@269:         EC_ERR("SII: Write operation failed!\n");
fp@269:         fsm->sii_state = ec_fsm_sii_error;
fp@269:     }
fp@269:     else { // success
fp@269:         fsm->sii_state = ec_fsm_sii_end;
fp@269:     }
fp@269: }
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@260:    SII state: END.
fp@238:    End state of the slave SII state machine.
fp@238: */
fp@238: 
fp@260: void ec_fsm_sii_end(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    SII state: ERROR.
fp@238:    End state of the slave SII state machine.
fp@238: */
fp@238: 
fp@260: void ec_fsm_sii_error(ec_fsm_t *fsm /**< finite state machine */)
fp@238: {
fp@238: }
fp@238: 
fp@251: /******************************************************************************
fp@251:  *  state change state machine
fp@251:  *****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Change state: START.
fp@260: */
fp@260: 
fp@260: void ec_fsm_change_start(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@251:     ec_slave_t *slave = fsm->slave;
fp@251: 
fp@251:     // write new state to slave
fp@293:     ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->change_new);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@251:     fsm->change_state = ec_fsm_change_check;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Change state: CHECK.
fp@260: */
fp@260: 
fp@260: void ec_fsm_change_check(ec_fsm_t *fsm /**< finite state machine */)
fp@260: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED) {
fp@292:         fsm->change_state = ec_fsm_change_error;
fp@293:         EC_ERR("Failed to send state datagram to slave %i!\n",
fp@260:                fsm->slave->ring_position);
fp@292:         return;
fp@292:     }
fp@292: 
fp@293:     if (datagram->working_counter != 1) {
fp@251:         fsm->change_state = ec_fsm_change_error;
fp@260:         EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
fp@260:                " respond.\n", fsm->change_new, fsm->slave->ring_position);
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     fsm->change_start = get_cycles();
fp@251: 
fp@251:     // read AL status from slave
fp@293:     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@251:     fsm->change_state = ec_fsm_change_status;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@260:    Change state: STATUS.
fp@260: */
fp@260: 
fp@260: void ec_fsm_change_status(ec_fsm_t *fsm /**< finite state machine */)
fp@251: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         fsm->change_state = ec_fsm_change_error;
fp@260:         EC_ERR("Failed to check state 0x%02X on slave %i.\n",
fp@260:                fsm->change_new, slave->ring_position);
fp@251:         return;
fp@251:     }
fp@251: 
fp@293:     slave->current_state = EC_READ_U8(datagram->data);
fp@251: 
fp@260:     if (slave->current_state == fsm->change_new) {
fp@260:         // state has been set successfully
fp@260:         fsm->change_state = ec_fsm_change_end;
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     if (slave->current_state & 0x10) {
fp@260:         // state change error
fp@260:         fsm->change_new = slave->current_state & 0x0F;
fp@251:         EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
fp@251:                " (code 0x%02X)!\n", fsm->change_new, slave->ring_position,
fp@251:                slave->current_state);
fp@251:         // fetch AL status error code
fp@293:         ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
fp@293:         ec_master_queue_datagram(fsm->master, datagram);
fp@251:         fsm->change_state = ec_fsm_change_code;
fp@251:         return;
fp@251:     }
fp@251: 
fp@260:     if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
fp@260:         // timeout while checking
fp@260:         fsm->change_state = ec_fsm_change_error;
fp@260:         EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
fp@260:                fsm->change_new, slave->ring_position);
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // still old state: check again
fp@293:     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@251:    Application layer status messages.
fp@251: */
fp@251: 
fp@251: const ec_code_msg_t al_status_messages[] = {
fp@251:     {0x0001, "Unspecified error"},
fp@251:     {0x0011, "Invalud requested state change"},
fp@251:     {0x0012, "Unknown requested state"},
fp@251:     {0x0013, "Bootstrap not supported"},
fp@251:     {0x0014, "No valid firmware"},
fp@251:     {0x0015, "Invalid mailbox configuration"},
fp@251:     {0x0016, "Invalid mailbox configuration"},
fp@251:     {0x0017, "Invalid sync manager configuration"},
fp@251:     {0x0018, "No valid inputs available"},
fp@251:     {0x0019, "No valid outputs"},
fp@251:     {0x001A, "Synchronisation error"},
fp@251:     {0x001B, "Sync manager watchdog"},
fp@297:     {0x001C, "Invalid sync manager types"},
fp@297:     {0x001D, "Invalid output configuration"},
fp@297:     {0x001E, "Invalid input configuration"},
fp@297:     {0x001F, "Invalid watchdog configuration"},
fp@251:     {0x0020, "Slave needs cold start"},
fp@251:     {0x0021, "Slave needs INIT"},
fp@251:     {0x0022, "Slave needs PREOP"},
fp@251:     {0x0023, "Slave needs SAVEOP"},
fp@297:     {0x0030, "Invalid DC SYNCH configuration"},
fp@297:     {0x0031, "Invalid DC latch configuration"},
fp@297:     {0x0032, "PLL error"},
fp@297:     {0x0033, "Invalid DC IO error"},
fp@297:     {0x0034, "Invalid DC timeout error"},
fp@297:     {0x0042, "MBOX EOE"},
fp@297:     {0x0043, "MBOX COE"},
fp@297:     {0x0044, "MBOX FOE"},
fp@297:     {0x0045, "MBOX SOE"},
fp@297:     {0x004F, "MBOX VOE"},
fp@251:     {}
fp@251: };
fp@251: 
fp@251: /*****************************************************************************/
fp@286: 
fp@286: /**
fp@286:    Change state: CODE.
fp@286: */
fp@286: 
fp@286: void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
fp@286: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@286:     ec_slave_t *slave = fsm->slave;
fp@286:     uint32_t code;
fp@286:     const ec_code_msg_t *al_msg;
fp@286: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         fsm->change_state = ec_fsm_change_error;
fp@293:         EC_ERR("Reception of AL status code datagram failed.\n");
fp@293:         return;
fp@293:     }
fp@293: 
fp@293:     if ((code = EC_READ_U16(datagram->data))) {
fp@286:         for (al_msg = al_status_messages; al_msg->code; al_msg++) {
fp@286:             if (al_msg->code != code) continue;
fp@286:             EC_ERR("AL status message 0x%04X: \"%s\".\n",
fp@286:                    al_msg->code, al_msg->message);
fp@286:             break;
fp@286:         }
fp@286:         if (!al_msg->code)
fp@286:             EC_ERR("Unknown AL status code 0x%04X.\n", code);
fp@286:     }
fp@286: 
fp@286:     // acknowledge "old" slave state
fp@293:     ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
fp@293:     EC_WRITE_U16(datagram->data, slave->current_state);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@286:     fsm->change_state = ec_fsm_change_ack;
fp@286: }
fp@286: 
fp@286: /*****************************************************************************/
fp@286: 
fp@286: /**
fp@286:    Change state: ACK.
fp@286: */
fp@286: 
fp@286: void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
fp@286: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         fsm->change_state = ec_fsm_change_error;
fp@293:         EC_ERR("Reception of state ack datagram failed.\n");
fp@286:         return;
fp@286:     }
fp@286: 
fp@286:     // read new AL status
fp@293:     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
fp@293:     ec_master_queue_datagram(fsm->master, datagram);
fp@286:     fsm->change_state = ec_fsm_change_ack2;
fp@286: }
fp@286: 
fp@286: /*****************************************************************************/
fp@286: 
fp@286: /**
fp@286:    Change state: ACK.
fp@286:    Acknowledge 2.
fp@286: */
fp@286: 
fp@286: void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
fp@286: {
fp@293:     ec_datagram_t *datagram = &fsm->datagram;
fp@293:     ec_slave_t *slave = fsm->slave;
fp@293: 
fp@293:     if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fp@292:         fsm->change_state = ec_fsm_change_error;
fp@293:         EC_ERR("Reception of state ack check datagram failed.\n");
fp@293:         return;
fp@293:     }
fp@293: 
fp@293:     slave->current_state = EC_READ_U8(datagram->data);
fp@292: 
fp@292:     if (slave->current_state == fsm->change_new) {
fp@286:         fsm->change_state = ec_fsm_change_error;
fp@286:         EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
fp@286:                 slave->current_state, slave->ring_position);
fp@292:         return;
fp@292:     }
fp@292: 
fp@292:     fsm->change_state = ec_fsm_change_error;
fp@286:     EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
fp@286:             " - Timeout!\n", fsm->change_new, slave->ring_position);
fp@286: }
fp@286: 
fp@286: /*****************************************************************************/
fp@286: 
fp@286: /**
fp@286:    Change state: END.
fp@286: */
fp@286: 
fp@286: void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
fp@286: {
fp@286: }
fp@286: 
fp@286: /*****************************************************************************/
fp@286: 
fp@286: /**
fp@286:    Change state: ERROR.
fp@286: */
fp@286: 
fp@286: void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
fp@286: {
fp@286: }
fp@286: 
fp@286: /*****************************************************************************/