fp@1739: /******************************************************************************
fp@1739:  *
fp@1739:  *  $Id$
fp@1739:  *
fp@1739:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1739:  *
fp@1739:  *  This file is part of the IgH EtherCAT Master.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1739:  *  and/or modify it under the terms of the GNU General Public License
fp@1739:  *  as published by the Free Software Foundation; either version 2 of the
fp@1739:  *  License, or (at your option) any later version.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1739:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1739:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1739:  *  GNU General Public License for more details.
fp@1739:  *
fp@1739:  *  You should have received a copy of the GNU General Public License
fp@1739:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1739:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1739:  *
fp@1739:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1739:  *  charge under condition of compatibility of product made by
fp@1739:  *  Licensee. People intending to distribute/sell products based on the
fp@1739:  *  code, have to sign an agreement to guarantee that products using
fp@1739:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1739:  *  EtherCAT specification (which are released themselves as an open
fp@1739:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1739:  *  Technology, IP and trade marks.
fp@1739:  *
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \file
fp@1739:    EtherCAT slave state machines.
fp@1739: */
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: #include "globals.h"
fp@1739: #include "master.h"
fp@1739: #include "mailbox.h"
fp@1739: #include "fsm_slave.h"
fp@1744: #include "fsm_mapping.h"
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_state(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *);
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *);
fp@1744: void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *);
fp@1744: void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_sdoconf(ec_fsm_slave_t *);
fp@1744: void ec_fsm_slave_conf_state_mapconf(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *);
fp@1739: 
fp@1744: void ec_fsm_slave_conf_enter_mbox_sync(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *);
fp@1744: void ec_fsm_slave_conf_enter_pdo_sync(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *);
fp@1744: void ec_fsm_slave_conf_enter_mapconf(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *);
fp@1739: 
fp@1739: void ec_fsm_slave_state_end(ec_fsm_slave_t *);
fp@1739: void ec_fsm_slave_state_error(ec_fsm_slave_t *);
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Constructor.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
fp@1739:         ec_datagram_t *datagram /**< datagram structure to use */
fp@1739:         )
fp@1739: {
fp@1739:     fsm->datagram = datagram;
fp@1739: 
fp@1739:     // init sub state machines
fp@1739:     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
fp@1739:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@1739:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@1744:     ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Destructor.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     // clear sub state machines
fp@1739:     ec_fsm_sii_clear(&fsm->fsm_sii);
fp@1739:     ec_fsm_change_clear(&fsm->fsm_change);
fp@1739:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@1744:     ec_fsm_mapping_clear(&fsm->fsm_map);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:  * Start slave scan state machine.
fp@1739:  */
fp@1739: 
fp@1739: void ec_fsm_slave_start_scan(ec_fsm_slave_t *fsm, /**< slave state machine */
fp@1739:         ec_slave_t *slave /**< slave to configure */
fp@1739:         )
fp@1739: {
fp@1739:     fsm->slave = slave;
fp@1739:     fsm->state = ec_fsm_slave_scan_state_start;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:  * Start slave configuration state machine.
fp@1739:  */
fp@1739: 
fp@1739: void ec_fsm_slave_start_conf(ec_fsm_slave_t *fsm, /**< slave state machine */
fp@1739:         ec_slave_t *slave /**< slave to configure */
fp@1739:         )
fp@1739: {
fp@1739:     fsm->slave = slave;
fp@1739:     fsm->state = ec_fsm_slave_conf_state_start;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \return false, if state machine has terminated
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_slave_running(const ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     return fsm->state != ec_fsm_slave_state_end
fp@1739:         && fsm->state != ec_fsm_slave_state_error;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Executes the current state of the state machine.
fp@1739:    If the state machine's datagram is not sent or received yet, the execution
fp@1739:    of the state machine is delayed to the next cycle.
fp@1739:    \return false, if state machine has terminated
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_slave_exec(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@1739:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@1739:         // datagram was not sent or received yet.
fp@1739:         return ec_fsm_slave_running(fsm);
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state(fsm);
fp@1739:     return ec_fsm_slave_running(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \return true, if the state machine terminated gracefully
fp@1739: */
fp@1739: 
fp@1739: int ec_fsm_slave_success(const ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     return fsm->state == ec_fsm_slave_state_end;
fp@1739: }
fp@1739: 
fp@1739: /******************************************************************************
fp@1739:  *  slave scan state machine
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: START.
fp@1739:    First state of the slave state machine. Writes the station address to the
fp@1739:    slave, according to its ring position.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     // write station address
fp@1739:     ec_datagram_apwr(fsm->datagram, fsm->slave->ring_position, 0x0010, 2);
fp@1739:     EC_WRITE_U16(fsm->datagram->data, fsm->slave->station_address);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_slave_scan_state_address;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: ADDRESS.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_address(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive station address datagram for slave %i"
fp@1744:                 " (datagram state %i)\n",
fp@1744:                 fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to write station address on slave %i: ",
fp@1739:                fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // Read AL state
fp@1739:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0130, 2);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_slave_scan_state_state;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: STATE.
fp@1739: */
fp@1739: 
fp@1745: void ec_fsm_slave_scan_state_state(
fp@1745:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1745:         )
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive AL state datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to read AL state of slave %i: ",
fp@1739:                fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     slave->current_state = EC_READ_U8(datagram->data);
fp@1739:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@1739:         char state_str[EC_STATE_STRING_SIZE];
fp@1739:         ec_state_string(slave->current_state, state_str);
fp@1739:         EC_WARN("Slave %i has state error bit set (%s)!\n",
fp@1739:                 slave->ring_position, state_str);
fp@1739:     }
fp@1739: 
fp@1739:     // read base data
fp@1739:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_slave_scan_state_base;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: BASE.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_base(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive base data datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to read base data from slave %i: ",
fp@1739:                slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     slave->base_type       = EC_READ_U8 (datagram->data);
fp@1739:     slave->base_revision   = EC_READ_U8 (datagram->data + 1);
fp@1739:     slave->base_build      = EC_READ_U16(datagram->data + 2);
fp@1739:     slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
fp@1739: 
fp@1739:     if (slave->base_fmmu_count > EC_MAX_FMMUS)
fp@1739:         slave->base_fmmu_count = EC_MAX_FMMUS;
fp@1739: 
fp@1739:     // read data link status
fp@1739:     ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_slave_scan_state_datalink;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: DATALINK.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     uint16_t dl_status;
fp@1739:     unsigned int i;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive DL status datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to read DL status from slave %i: ",
fp@1739:                slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     dl_status = EC_READ_U16(datagram->data);
fp@1739:     for (i = 0; i < 4; i++) {
fp@1739:         slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
fp@1739:         slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
fp@1739:         slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
fp@1739:     }
fp@1739: 
fp@1739:     // Start fetching EEPROM size
fp@1739: 
fp@1744:     fsm->sii_offset = EC_FIRST_EEPROM_CATEGORY_OFFSET; // first category header
fp@1739:     ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
fp@1739:     fsm->state = ec_fsm_slave_scan_state_eeprom_size;
fp@1739:     fsm->state(fsm); // execute state immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: EEPROM SIZE.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_eeprom_size(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     uint16_t cat_type, cat_size;
fp@1739: 
fp@1739:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         EC_ERR("Failed to read EEPROM size of slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     cat_type = EC_READ_U16(fsm->fsm_sii.value);
fp@1739:     cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
fp@1739: 
fp@1739:     if (cat_type != 0xFFFF) { // not the last category
fp@1746:         off_t next_offset = 2UL + fsm->sii_offset + cat_size;
fp@1746:         if (next_offset >= EC_MAX_EEPROM_SIZE) {
fp@1744:             EC_WARN("EEPROM size of slave %i exceeds"
fp@1746:                     " %u words (0xffff limiter missing?).\n",
fp@1744:                     slave->ring_position, EC_MAX_EEPROM_SIZE);
fp@1744:             slave->eeprom_size = EC_FIRST_EEPROM_CATEGORY_OFFSET * 2;
fp@1744:             goto alloc_eeprom;
fp@1744:         }
fp@1746:         fsm->sii_offset = next_offset;
fp@1739:         ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@1739:                         EC_FSM_SII_NODE);
fp@1739:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     slave->eeprom_size = (fsm->sii_offset + 1) * 2;
fp@1739: 
fp@1744: alloc_eeprom:
fp@1739:     if (slave->eeprom_data) {
fp@1746:         EC_WARN("Freeing old EEPROM data on slave %i...\n",
fp@1739:                 slave->ring_position);
fp@1739:         kfree(slave->eeprom_data);
fp@1739:     }
fp@1739: 
fp@1739:     if (!(slave->eeprom_data =
fp@1746:                 (uint8_t *) kmalloc(slave->eeprom_size, GFP_ATOMIC))) {
fp@1746:         EC_ERR("Failed to allocate %u bytes of EEPROM data for slave %u.\n",
fp@1746:                slave->eeprom_size, slave->ring_position);
fp@1746:         slave->eeprom_size = 0;
fp@1746:         slave->error_flag = 1;
fp@1746:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // Start fetching EEPROM contents
fp@1739: 
fp@1739:     fsm->state = ec_fsm_slave_scan_state_eeprom_data;
fp@1739:     fsm->sii_offset = 0x0000;
fp@1739:     ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
fp@1739:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave scan state: EEPROM DATA.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_scan_state_eeprom_data(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1746:     uint16_t *cat_word, cat_type, cat_size, eeprom_word_size = slave->eeprom_size / 2;
fp@1739: 
fp@1739:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // 2 words fetched
fp@1739: 
fp@1746:     if (fsm->sii_offset + 2 <= eeprom_word_size) { // 2 words fit
fp@1739:         memcpy(slave->eeprom_data + fsm->sii_offset * 2,
fp@1739:                fsm->fsm_sii.value, 4);
fp@1739:     }
fp@1739:     else { // copy the last word
fp@1739:         memcpy(slave->eeprom_data + fsm->sii_offset * 2,
fp@1739:                fsm->fsm_sii.value, 2);
fp@1739:     }
fp@1739: 
fp@1746:     if (fsm->sii_offset + 2 < eeprom_word_size) {
fp@1739:         // fetch the next 2 words
fp@1739:         fsm->sii_offset += 2;
fp@1739:         ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
fp@1739:                         EC_FSM_SII_NODE);
fp@1739:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // Evaluate EEPROM contents
fp@1739: 
fp@1739:     slave->sii_alias =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x0004);
fp@1739:     slave->sii_vendor_id =
fp@1739:         EC_READ_U32(slave->eeprom_data + 2 * 0x0008);
fp@1739:     slave->sii_product_code =
fp@1739:         EC_READ_U32(slave->eeprom_data + 2 * 0x000A);
fp@1739:     slave->sii_revision_number =
fp@1739:         EC_READ_U32(slave->eeprom_data + 2 * 0x000C);
fp@1739:     slave->sii_serial_number =
fp@1739:         EC_READ_U32(slave->eeprom_data + 2 * 0x000E);
fp@1739:     slave->sii_rx_mailbox_offset =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x0018);
fp@1739:     slave->sii_rx_mailbox_size =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x0019);
fp@1739:     slave->sii_tx_mailbox_offset =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x001A);
fp@1739:     slave->sii_tx_mailbox_size =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x001B);
fp@1739:     slave->sii_mailbox_protocols =
fp@1739:         EC_READ_U16(slave->eeprom_data + 2 * 0x001C);
fp@1739: 
fp@1746:     if (eeprom_word_size < EC_FIRST_EEPROM_CATEGORY_OFFSET + 1) {
fp@1746:         EC_ERR("Unexpected end of EEPROM data in slave %u:"
fp@1746:                 " First category header missing.\n",
fp@1746:                 slave->ring_position);
fp@1746:         goto end;
fp@1746:     }
fp@1746: 
fp@1739:     // evaluate category data
fp@1746:     cat_word =
fp@1746:         (uint16_t *) slave->eeprom_data + EC_FIRST_EEPROM_CATEGORY_OFFSET;
fp@1739:     while (EC_READ_U16(cat_word) != 0xFFFF) {
fp@1746: 
fp@1746:         // type and size words must fit
fp@1746:         if (cat_word + 2 - (uint16_t *) slave->eeprom_data
fp@1746:                 > eeprom_word_size) {
fp@1746:             EC_ERR("Unexpected end of EEPROM data in slave %u:"
fp@1746:                     " Category header incomplete.\n",
fp@1746:                     slave->ring_position);
fp@1746:             goto end;
fp@1746:         }
fp@1746: 
fp@1739:         cat_type = EC_READ_U16(cat_word) & 0x7FFF;
fp@1739:         cat_size = EC_READ_U16(cat_word + 1);
fp@1746:         cat_word += 2;
fp@1746: 
fp@1746:         if (cat_word + cat_size - (uint16_t *) slave->eeprom_data
fp@1746:                 > eeprom_word_size) {
fp@1746:             EC_WARN("Unexpected end of EEPROM data in slave %u:"
fp@1746:                     " Category data incomplete.\n",
fp@1746:                     slave->ring_position);
fp@1746:             goto end;
fp@1746:         }
fp@1739: 
fp@1739:         switch (cat_type) {
fp@1739:             case 0x000A:
fp@1746:                 if (ec_slave_fetch_sii_strings(slave, (uint8_t *) cat_word,
fp@1746:                             cat_size * 2))
fp@1739:                     goto end;
fp@1739:                 break;
fp@1739:             case 0x001E:
fp@1746:                 if (ec_slave_fetch_sii_general(slave, (uint8_t *) cat_word,
fp@1746:                             cat_size * 2))
fp@1746:                     goto end;
fp@1739:                 break;
fp@1739:             case 0x0028:
fp@1739:                 break;
fp@1739:             case 0x0029:
fp@1746:                 if (ec_slave_fetch_sii_syncs(slave, (uint8_t *) cat_word,
fp@1746:                             cat_size * 2))
fp@1739:                     goto end;
fp@1739:                 break;
fp@1739:             case 0x0032:
fp@1746:                 if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
fp@1746:                             cat_size * 2, EC_TX_PDO))
fp@1739:                     goto end;
fp@1739:                 break;
fp@1739:             case 0x0033:
fp@1746:                 if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
fp@1746:                             cat_size * 2, EC_RX_PDO))
fp@1739:                     goto end;
fp@1739:                 break;
fp@1739:             default:
fp@1739:                 if (fsm->slave->master->debug_level)
fp@1739:                     EC_WARN("Unknown category type 0x%04X in slave %i.\n",
fp@1739:                             cat_type, slave->ring_position);
fp@1739:         }
fp@1739: 
fp@1746:         cat_word += cat_size;
fp@1746:         if (cat_word - (uint16_t *) slave->eeprom_data >= eeprom_word_size) {
fp@1746:             EC_WARN("Unexpected end of EEPROM data in slave %u:"
fp@1746:                     " Next category header missing.\n",
fp@1746:                     slave->ring_position);
fp@1746:             goto end;
fp@1746:         }
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state = ec_fsm_slave_state_end;
fp@1739:     return;
fp@1739: 
fp@1739: end:
fp@1739:     EC_ERR("Failed to analyze category data.\n");
fp@1739:     fsm->slave->error_flag = 1;
fp@1739:     fsm->state = ec_fsm_slave_state_error;
fp@1739: }
fp@1739: 
fp@1739: /******************************************************************************
fp@1739:  *  slave configuration state machine
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: START.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_start(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     if (fsm->slave->master->debug_level) {
fp@1739:         EC_DBG("Configuring slave %i...\n", fsm->slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
fp@1739:     ec_fsm_change_exec(&fsm->fsm_change);
fp@1739:     fsm->state = ec_fsm_slave_conf_state_init;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: INIT.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_init(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->slave->master;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739: 
fp@1739:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@1746:         if (!fsm->fsm_change.spontaneous_change)
fp@1746:             slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     slave->self_configured = 1;
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1739:         EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     // check and reset CRC fault counters
fp@1739:     //ec_slave_check_crc(slave);
fp@1739:     // TODO: Implement state machine for CRC checking.
fp@1739: 
fp@1739:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@1744:         ec_fsm_slave_conf_enter_mbox_sync(fsm);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (master->debug_level)
fp@1739:         EC_DBG("Clearing FMMU configurations of slave %i...\n",
fp@1739:                slave->ring_position);
fp@1739: 
fp@1739:     // clear FMMU configurations
fp@1739:     ec_datagram_npwr(datagram, slave->station_address,
fp@1739:                      0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@1739:     memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1739:     fsm->state = ec_fsm_slave_conf_state_clear_fmmus;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: CLEAR FMMU.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
fp@1739:                                         /**< slave state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         EC_ERR("Failed receive FMMU clearing datagram for slave %i.\n",
fp@1739:                fsm->slave->ring_position);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to clear FMMUs of slave %i: ",
fp@1739:                fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1744:     ec_fsm_slave_conf_enter_mbox_sync(fsm);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Check for mailbox sync managers to be configured.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_enter_mbox_sync(
fp@1744:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1744:         )
fp@1739: {
fp@1739:     ec_master_t *master = fsm->slave->master;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1744:     unsigned int i;
fp@1739: 
fp@1739:     // slave is now in INIT
fp@1739:     if (slave->current_state == slave->requested_state) {
fp@1739:         fsm->state = ec_fsm_slave_state_end; // successful
fp@1739:         if (master->debug_level) {
fp@1739:             EC_DBG("Finished configuration of slave %i.\n",
fp@1739:                    slave->ring_position);
fp@1739:         }
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1746:     if (!slave->sii_mailbox_protocols) {
fp@1746:         // no mailbox protocols supported
fp@1746:         if (master->debug_level)
fp@1746:             EC_DBG("Slave %i does not support mailbox communication.\n",
fp@1746:                     slave->ring_position);
fp@1739:         ec_fsm_slave_conf_enter_preop(fsm);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1744:         EC_DBG("Configuring mailbox sync managers of slave %i.\n",
fp@1739:                slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1746:     if (slave->sii_sync_count >= 2) {
fp@1746:         // configure sync managers
fp@1746:         ec_datagram_npwr(datagram, slave->station_address, 0x0800,
fp@1746:                 EC_SYNC_SIZE * slave->sii_sync_count);
fp@1746:         memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
fp@1746: 
fp@1746:         for (i = 0; i < 2; i++) {
fp@1746:             ec_sync_config(&slave->sii_syncs[i],
fp@1746:                     datagram->data + EC_SYNC_SIZE * i);
fp@1746:         }
fp@1746:     } else { // no mailbox sync manager configurations provided
fp@1746:         ec_sync_t sync;
fp@1746: 
fp@1746:         if (master->debug_level)
fp@1746:             EC_DBG("Slave %i does not provide"
fp@1746:                     " mailbox sync manager configurations.\n",
fp@1746:                     slave->ring_position);
fp@1746: 
fp@1746:         ec_datagram_npwr(datagram, slave->station_address, 0x0800,
fp@1746:                 EC_SYNC_SIZE * 2);
fp@1746:         memset(datagram->data, 0x00, EC_SYNC_SIZE * 2);
fp@1746: 
fp@1746:         ec_sync_init(&sync, slave, 0);
fp@1746:         sync.physical_start_address = slave->sii_rx_mailbox_offset;
fp@1746:         sync.length = slave->sii_rx_mailbox_size;
fp@1746:         sync.control_register = 0x26;
fp@1746:         sync.enable = 1;
fp@1746:         ec_sync_config(&sync, datagram->data + EC_SYNC_SIZE * sync.index);
fp@1746: 
fp@1746:         ec_sync_init(&sync, slave, 1);
fp@1746:         sync.physical_start_address = slave->sii_tx_mailbox_offset;
fp@1746:         sync.length = slave->sii_tx_mailbox_size;
fp@1746:         sync.control_register = 0x22;
fp@1746:         sync.enable = 1;
fp@1746:         ec_sync_config(&sync, datagram->data + EC_SYNC_SIZE * sync.index);
fp@1744:     }
fp@1744: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1744:     fsm->state = ec_fsm_slave_conf_state_mbox_sync;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: SYNC.
fp@1739: */
fp@1739: 
fp@1744: void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_datagram_t *datagram = fsm->datagram;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         EC_ERR("Failed to receive sync manager configuration datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to set sync managers of slave %i: ",
fp@1739:                slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     ec_fsm_slave_conf_enter_preop(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1746:  * Request PREOP state.
fp@1739:  */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     fsm->state = ec_fsm_slave_conf_state_preop;
fp@1739:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_PREOP);
fp@1739:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: PREOP.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739:     ec_master_t *master = fsm->slave->master;
fp@1739: 
fp@1739:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@1746:         if (!fsm->fsm_change.spontaneous_change)
fp@1746:             slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // slave is now in PREOP
fp@1739:     slave->jiffies_preop = fsm->datagram->jiffies_received;
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1739:         EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     if (slave->current_state == slave->requested_state) {
fp@1739:         fsm->state = ec_fsm_slave_state_end; // successful
fp@1739:         if (master->debug_level) {
fp@1739:             EC_DBG("Finished configuration of slave %i.\n",
fp@1739:                    slave->ring_position);
fp@1739:         }
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1744:     ec_fsm_slave_conf_enter_sdoconf(fsm);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Check for SDO configurations to be applied.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1744: {
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744: 
fp@1744:     // No CoE configuration to be applied?
fp@1739:     if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
fp@1744:         ec_fsm_slave_conf_enter_mapconf(fsm);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // start SDO configuration
fp@1739:     fsm->state = ec_fsm_slave_conf_state_sdoconf;
fp@1739:     fsm->sdodata = list_entry(fsm->slave->sdo_confs.next, ec_sdo_data_t, list);
fp@1739:     ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
fp@1739:     ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: SDOCONF.
fp@1739: */
fp@1739: 
fp@1744: void ec_fsm_slave_conf_state_sdoconf(
fp@1744:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1744:         )
fp@1739: {
fp@1739:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1744:         EC_ERR("SDO configuration failed for slave %u.\n",
fp@1744:                 fsm->slave->ring_position);
fp@1739:         fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // Another SDO to configure?
fp@1739:     if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
fp@1739:         fsm->sdodata = list_entry(fsm->sdodata->list.next,
fp@1739:                                   ec_sdo_data_t, list);
fp@1739:         ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
fp@1739:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // All SDOs are now configured.
fp@1744:     ec_fsm_slave_conf_enter_mapconf(fsm);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Check for alternative PDO mappings to be applied.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_enter_mapconf(
fp@1744:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1744:         )
fp@1744: {
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744: 
fp@1744:     if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
fp@1744:         // Slave does not support CoE: no configuration of PDO mapping.
fp@1744:         ec_fsm_slave_conf_enter_pdo_sync(fsm);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     // start configuring PDO mapping
fp@1744:     fsm->state = ec_fsm_slave_conf_state_mapconf;
fp@1744:     ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave);
fp@1744:     ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    Slave configuration state: MAPCONF.
fp@1744: */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_state_mapconf(
fp@1744:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1744:         )
fp@1744: {
fp@1744:     if (ec_fsm_mapping_exec(&fsm->fsm_map)) return;
fp@1744: 
fp@1744:     if (!ec_fsm_mapping_success(&fsm->fsm_map)) {
fp@1744:         EC_ERR("PDO mapping configuration failed for slave %u.\n",
fp@1744:                 fsm->slave->ring_position);
fp@1744:         fsm->slave->error_flag = 1;
fp@1744:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     ec_fsm_slave_conf_enter_pdo_sync(fsm);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Check for PDO sync managers to be configured.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_enter_pdo_sync(
fp@1744:         ec_fsm_slave_t *fsm /**< slave state machine */
fp@1744:         )
fp@1744: {
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744:     ec_datagram_t *datagram = fsm->datagram;
fp@1744:     unsigned int i;
fp@1744: 
fp@1744:     if (!slave->sii_sync_count) {
fp@1744:         ec_fsm_slave_conf_enter_fmmu(fsm);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     // configure sync managers for process data
fp@1744:     ec_datagram_npwr(datagram, slave->station_address, 0x0800,
fp@1744:                      EC_SYNC_SIZE * slave->sii_sync_count);
fp@1744:     memset(datagram->data, 0x00, EC_SYNC_SIZE * slave->sii_sync_count);
fp@1744: 
fp@1744:     for (i = 0; i < slave->sii_sync_count; i++) {
fp@1744:         ec_sync_config(&slave->sii_syncs[i],
fp@1744:                 datagram->data + EC_SYNC_SIZE * i);
fp@1744:     }
fp@1744: 
fp@1744:     fsm->retries = EC_FSM_RETRIES;
fp@1744:     fsm->state = ec_fsm_slave_conf_state_pdo_sync;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Configure PDO sync managers.
fp@1744:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1744: {
fp@1744:     ec_datagram_t *datagram = fsm->datagram;
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive process data sync manager configuration"
fp@1744:                " datagram for slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     if (datagram->working_counter != 1) {
fp@1744:         slave->error_flag = 1;
fp@1744:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to set process data sync managers of slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     ec_fsm_slave_conf_enter_fmmu(fsm);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1746:  * Check for FMMUs to be configured.
fp@1746:  */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1744: {
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744:     ec_datagram_t *datagram = fsm->datagram;
fp@1744:     unsigned int j;
fp@1744: 
fp@1744:     if (!slave->base_fmmu_count) { // skip FMMU configuration
fp@1744:         ec_fsm_slave_conf_enter_saveop(fsm);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     // configure FMMUs
fp@1744:     ec_datagram_npwr(datagram, slave->station_address,
fp@1744:                      0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@1744:     memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
fp@1744:     for (j = 0; j < slave->fmmu_count; j++) {
fp@1744:         ec_fmmu_config(&slave->fmmus[j], datagram->data + EC_FMMU_SIZE * j);
fp@1744:     }
fp@1744: 
fp@1744:     fsm->retries = EC_FSM_RETRIES;
fp@1744:     fsm->state = ec_fsm_slave_conf_state_fmmu;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    Slave configuration state: FMMU.
fp@1744: */
fp@1744: 
fp@1744: void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1744: {
fp@1744:     ec_datagram_t *datagram = fsm->datagram;
fp@1744:     ec_slave_t *slave = fsm->slave;
fp@1744: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_slave_state_error;
fp@1744:         EC_ERR("Failed to receive FMMUs datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     if (datagram->working_counter != 1) {
fp@1744:         slave->error_flag = 1;
fp@1744:         fsm->state = ec_fsm_slave_state_error;
fp@1745:         EC_ERR("Failed to set FMMUs of slave %i: ",
fp@1744:                slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1739:     ec_fsm_slave_conf_enter_saveop(fsm);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1746:  * Request SAVEOP state.
fp@1739:  */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     fsm->state = ec_fsm_slave_conf_state_saveop;
fp@1739:     ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
fp@1739:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: SAVEOP.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->slave->master;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@1746:         if (!fsm->fsm_change.spontaneous_change)
fp@1746:             fsm->slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // slave is now in SAVEOP
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1739:         EC_DBG("Slave %i is now in SAVEOP.\n", slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     if (fsm->slave->current_state == fsm->slave->requested_state) {
fp@1739:         fsm->state = ec_fsm_slave_state_end; // successful
fp@1739:         if (master->debug_level) {
fp@1739:             EC_DBG("Finished configuration of slave %i.\n",
fp@1739:                    slave->ring_position);
fp@1739:         }
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // set state to OP
fp@1739:     fsm->state = ec_fsm_slave_conf_state_op;
fp@1739:     ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
fp@1739:     ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Slave configuration state: OP
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_conf_state_op(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739:     ec_master_t *master = fsm->slave->master;
fp@1739:     ec_slave_t *slave = fsm->slave;
fp@1739: 
fp@1739:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@1739: 
fp@1739:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@1746:         if (!fsm->fsm_change.spontaneous_change)
fp@1746:             slave->error_flag = 1;
fp@1739:         fsm->state = ec_fsm_slave_state_error;
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     // slave is now in OP
fp@1739: 
fp@1739:     if (master->debug_level) {
fp@1739:         EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
fp@1739:         EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
fp@1739:     }
fp@1739: 
fp@1739:     fsm->state = ec_fsm_slave_state_end; // successful
fp@1739: }
fp@1739: 
fp@1739: /******************************************************************************
fp@1739:  *  Common state functions
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    State: ERROR.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_state_error(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    State: END.
fp@1739: */
fp@1739: 
fp@1739: void ec_fsm_slave_state_end(ec_fsm_slave_t *fsm /**< slave state machine */)
fp@1739: {
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/