fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@238:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@238:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@907: /** \file
fp@907:  * EtherCAT master state machine.
fp@907:  */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #include "globals.h"
fp@238: #include "master.h"
fp@329: #include "mailbox.h"
fp@858: #include "slave_config.h"
fp@715: #ifdef EC_EOE
fp@661: #include "ethernet.h"
fp@715: #endif
fp@849: 
fp@528: #include "fsm_master.h"
fp@1335: #include "fsm_foe.h"
fp@528: 
fp@528: /*****************************************************************************/
fp@528: 
fp@528: void ec_fsm_master_state_start(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
fp@907: void ec_fsm_master_state_read_state(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *);
fp@717: void ec_fsm_master_state_clear_addresses(ec_fsm_master_t *);
fp@1420: void ec_fsm_master_state_dc_measure_delays(ec_fsm_master_t *);
fp@907: void ec_fsm_master_state_scan_slave(ec_fsm_master_t *);
fp@872: void ec_fsm_master_state_write_sii(ec_fsm_master_t *);
fp@905: void ec_fsm_master_state_sdo_dictionary(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
fp@1388: void ec_fsm_master_state_reg_request(ec_fsm_master_t *);
fp@1335: void ec_fsm_master_state_foe_request(ec_fsm_master_t *);
fp@251: 
martin@1583: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Constructor.
fp@907:  */
fp@907: void ec_fsm_master_init(
fp@907:         ec_fsm_master_t *fsm, /**< Master state machine. */
fp@907:         ec_master_t *master, /**< EtherCAT master. */
fp@907:         ec_datagram_t *datagram /**< Datagram object to use. */
fp@528:         )
fp@238: {
fp@238:     fsm->master = master;
fp@528:     fsm->datagram = datagram;
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@650:     fsm->idle = 0;
fp@1400:     fsm->link_state = 0;
fp@528:     fsm->slaves_responding = 0;
fp@553:     fsm->topology_change_pending = 0;
fp@528:     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238: 
fp@436:     // init sub-state-machines
fp@1174:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@1335:     ec_fsm_foe_init(&fsm->fsm_foe, fsm->datagram);
fp@1174:     ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
fp@1174:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@1174:     ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
fp@1174:             &fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_pdo);
fp@831:     ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
fp@1174:             &fsm->fsm_slave_config, &fsm->fsm_pdo);
fp@528:     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Destructor.
fp@907:  */
fp@907: void ec_fsm_master_clear(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@238: {
fp@436:     // clear sub-state machines
fp@1174:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@1335:     ec_fsm_foe_clear(&fsm->fsm_foe);
fp@1174:     ec_fsm_pdo_clear(&fsm->fsm_pdo);
fp@1174:     ec_fsm_change_clear(&fsm->fsm_change);
fp@830:     ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
fp@830:     ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);
fp@433:     ec_fsm_sii_clear(&fsm->fsm_sii);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Executes the current state of the state machine.
fp@907:  *
fp@907:  * If the state machine's datagram is not sent or received yet, the execution
fp@907:  * of the state machine is delayed to the next cycle.
martin@1583:  *
martin@1583:  * \return true, if the state machine was executed
martin@1583:  */
martin@1583: int ec_fsm_master_exec(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@528:     if (fsm->datagram->state == EC_DATAGRAM_SENT
fp@528:         || fsm->datagram->state == EC_DATAGRAM_QUEUED) {
fp@505:         // datagram was not sent or received yet.
martin@1583:         return 0;
fp@528:     }
fp@528: 
fp@528:     fsm->state(fsm);
martin@1583:     return 1;
fp@446: }
fp@446: 
fp@650: /*****************************************************************************/
fp@650: 
fp@650: /**
fp@650:  * \return true, if the state machine is in an idle phase
fp@650:  */
fp@650: int ec_fsm_master_idle(
fp@907:         const ec_fsm_master_t *fsm /**< Master state machine. */
fp@650:         )
fp@650: {
fp@650:     return fsm->idle;
fp@650: }
fp@650: 
fp@1031: /*****************************************************************************/
fp@1031: 
fp@1031: /** Restarts the master state machine.
fp@1031:  */
fp@1031: void ec_fsm_master_restart(
fp@1031:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1031:         )
fp@1031: {
fp@1031:     fsm->state = ec_fsm_master_state_start;
fp@1031:     fsm->state(fsm); // execute immediately
fp@1031: }
fp@1031: 
fp@238: /******************************************************************************
fp@907:  * Master state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@907: /** Master state: START.
fp@907:  *
fp@907:  * Starts with getting slave count and slave states.
fp@907:  */
fp@907: void ec_fsm_master_state_start(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@650:     fsm->idle = 1;
fp@528:     ec_datagram_brd(fsm->datagram, 0x0130, 2);
fp@1225:     ec_datagram_zero(fsm->datagram);
fp@528:     fsm->state = ec_fsm_master_state_broadcast;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@907: /** Master state: BROADCAST.
fp@907:  *
fp@907:  * Processes the broadcast read slave count and slaves states.
fp@907:  */
fp@907: void ec_fsm_master_state_broadcast(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@528: {
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@1005:     unsigned int i, size;
fp@238:     ec_slave_t *slave;
fp@260:     ec_master_t *master = fsm->master;
fp@238: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT)
fp@637:         return; // always retry
fp@505: 
fp@553:     // bus topology change?
fp@553:     if (datagram->working_counter != fsm->slaves_responding) {
fp@553:         fsm->topology_change_pending = 1;
fp@553:         fsm->slaves_responding = datagram->working_counter;
fp@906:         EC_INFO("%u slave(s) responding.\n", fsm->slaves_responding);
fp@906:     }
fp@906: 
fp@1400:     if (fsm->link_state && !master->main_device.link_state) { // link went down
fp@1402:         if (master->debug_level) {
fp@1402:             EC_DBG("Master state machine detected "
fp@1402:                     "link down. Clearing slave list.\n");
fp@1402:         }
fp@1402: 
fp@1400: #ifdef EC_EOE
fp@1400:         ec_master_eoe_stop(master);
fp@1400:         ec_master_clear_eoe_handlers(master);
fp@1400: #endif
fp@1400:         ec_master_clear_slaves(master);
fp@1400:     }
fp@1400:     fsm->link_state = master->main_device.link_state;
fp@1400: 
fp@1402:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1031:         ec_fsm_master_restart(fsm);
fp@906:         return;
fp@260:     }
fp@260: 
fp@1021:     if (fsm->slaves_responding) {
fp@1021:         uint8_t states = EC_READ_U8(datagram->data);
fp@1021:         if (states != fsm->slave_states) { // slave states changed?
fp@1021:             char state_str[EC_STATE_STRING_SIZE];
fp@1021:             fsm->slave_states = states;
fp@1337:             ec_state_string(fsm->slave_states, state_str, 1);
fp@1021:             EC_INFO("Slave states: %s.\n", state_str);
fp@1021:         }
fp@1021:     } else {
fp@1021:         fsm->slave_states = 0x00;
fp@260:     }
fp@260: 
fp@656:     if (fsm->topology_change_pending) {
fp@656:         down(&master->scan_sem);
fp@656:         if (!master->allow_scan) {
fp@656:             up(&master->scan_sem);
fp@900:         } else {
fp@900:             master->scan_busy = 1;
fp@656:             up(&master->scan_sem);
fp@1335: 
fp@656:             // topology change when scan is allowed:
fp@656:             // clear all slaves and scan the bus
fp@656:             fsm->topology_change_pending = 0;
fp@656:             fsm->idle = 0;
fp@656:             fsm->scan_jiffies = jiffies;
fp@656: 
fp@715: #ifdef EC_EOE
fp@656:             ec_master_eoe_stop(master);
fp@661:             ec_master_clear_eoe_handlers(master);
fp@715: #endif
fp@992:             ec_master_clear_slaves(master);
fp@656: 
fp@1003:             master->slave_count = fsm->slaves_responding;
fp@656: 
fp@656:             if (!master->slave_count) {
fp@656:                 // no slaves present -> finish state machine.
fp@900:                 master->scan_busy = 0;
fp@656:                 wake_up_interruptible(&master->scan_queue);
fp@1031:                 ec_fsm_master_restart(fsm);
fp@260:                 return;
fp@260:             }
fp@260: 
fp@1005:             size = sizeof(ec_slave_t) * master->slave_count;
fp@1005:             if (!(master->slaves = (ec_slave_t *) kmalloc(size, GFP_KERNEL))) {
fp@1005:                 EC_ERR("Failed to allocate %u bytes of slave memory!\n",
fp@1005:                         size);
fp@1064:                 master->slave_count = 0; // TODO avoid retrying scan!
fp@1000:                 master->scan_busy = 0;
fp@1000:                 wake_up_interruptible(&master->scan_queue);
fp@1031:                 ec_fsm_master_restart(fsm);
fp@1000:                 return;
fp@1000:             }
fp@1000: 
fp@656:             // init slaves
fp@656:             for (i = 0; i < master->slave_count; i++) {
fp@1000:                 slave = master->slaves + i;
fp@992:                 ec_slave_init(slave, master, i, i + 1);
fp@656: 
fp@1029:                 // do not force reconfiguration in operation phase to avoid
fp@908:                 // unnecesssary process data interruptions
fp@1029:                 if (master->phase != EC_OPERATION)
fp@908:                     slave->force_config = 1;
fp@260:             }
fp@260: 
fp@904:             // broadcast clear all station addresses
fp@717:             ec_datagram_bwr(datagram, 0x0010, 2);
fp@717:             EC_WRITE_U16(datagram->data, 0x0000);
fp@717:             fsm->retries = EC_FSM_RETRIES;
fp@717:             fsm->state = ec_fsm_master_state_clear_addresses;
fp@656:             return;
fp@656:         }
fp@260:     }
fp@260: 
fp@1000:     if (master->slave_count) {
fp@907:         // fetch state from first slave
fp@1000:         fsm->slave = master->slaves;
fp@907:         ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
fp@907:                 0x0130, 2);
fp@1225:         ec_datagram_zero(datagram);
fp@853:         fsm->retries = EC_FSM_RETRIES;
fp@907:         fsm->state = ec_fsm_master_state_read_state;
fp@1000:     } else {
fp@1031:         ec_fsm_master_restart(fsm);
fp@907:     }
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Check for pending SII write requests and process one.
fp@1335:  *
fp@872:  * \return non-zero, if an SII write request is processed.
fp@601:  */
fp@872: int ec_fsm_master_action_process_sii(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@601:         )
fp@601: {
fp@601:     ec_master_t *master = fsm->master;
fp@872:     ec_sii_write_request_t *request;
fp@601: 
fp@604:     // search the first request to be processed
fp@604:     while (1) {
fp@1079:         if (list_empty(&master->sii_requests))
fp@604:             break;
fp@1079: 
fp@604:         // get first request
fp@872:         request = list_entry(master->sii_requests.next,
fp@872:                 ec_sii_write_request_t, list);
fp@601:         list_del_init(&request->list); // dequeue
fp@1209:         request->state = EC_INT_REQUEST_BUSY;
fp@601: 
fp@872:         // found pending SII write operation. execute it!
fp@607:         if (master->debug_level)
fp@906:             EC_DBG("Writing SII data to slave %u...\n",
fp@906:                     request->slave->ring_position);
fp@872:         fsm->sii_request = request;
fp@872:         fsm->sii_index = 0;
fp@979:         ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->offset,
fp@979:                 request->words, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fp@872:         fsm->state = ec_fsm_master_state_write_sii;
fp@601:         fsm->state(fsm); // execute immediately
fp@601:         return 1;
fp@601:     }
fp@601: 
fp@601:     return 0;
fp@601: }
fp@601: 
fp@601: /*****************************************************************************/
fp@601: 
fp@1388: /** Check for pending register requests and process one.
martin@1579:  *
fp@1388:  * \return non-zero, if a register request is processed.
fp@1388:  */
fp@1388: int ec_fsm_master_action_process_register(
fp@1388:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1388:         )
fp@1388: {
fp@1388:     ec_master_t *master = fsm->master;
fp@1388:     ec_reg_request_t *request;
fp@1200: 
fp@1200:     // search the first request to be processed
fp@1388:     while (!list_empty(&master->reg_requests)) {
fp@1200: 
fp@1200:         // get first request
fp@1388:         request = list_entry(master->reg_requests.next,
fp@1388:                 ec_reg_request_t, list);
fp@1200:         list_del_init(&request->list); // dequeue
fp@1209:         request->state = EC_INT_REQUEST_BUSY;
fp@1200: 
fp@1200:         // found pending request; process it!
fp@1200:         if (master->debug_level)
fp@1388:             EC_DBG("Processing register request for slave %u, "
fp@1380:                     "offset 0x%04x, length %u...\n",
fp@1380:                     request->slave->ring_position,
fp@1380:                     request->offset, request->length);
fp@1386: 
fp@1386:         if (request->length > fsm->datagram->mem_size) {
fp@1386:             EC_ERR("Request length (%u) exceeds maximum "
fp@1386:                     "datagram size (%u)!\n", request->length,
fp@1386:                     fsm->datagram->mem_size);
fp@1386:             request->state = EC_INT_REQUEST_FAILURE;
fp@1388:             wake_up(&master->reg_queue);
fp@1386:             continue;
fp@1386:         }
fp@1386: 
fp@1388:         fsm->reg_request = request;
fp@1200: 
fp@1200:         if (request->dir == EC_DIR_INPUT) {
fp@1200:             ec_datagram_fprd(fsm->datagram, request->slave->station_address,
fp@1200:                     request->offset, request->length);
fp@1225:             ec_datagram_zero(fsm->datagram);
fp@1200:         } else {
fp@1200:             ec_datagram_fpwr(fsm->datagram, request->slave->station_address,
fp@1200:                     request->offset, request->length);
fp@1200:             memcpy(fsm->datagram->data, request->data, request->length);
fp@1200:         }
fp@1200:         fsm->retries = EC_FSM_RETRIES;
fp@1388:         fsm->state = ec_fsm_master_state_reg_request;
fp@1200:         return 1;
fp@1200:     }
fp@1200: 
fp@1200:     return 0;
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1327: /** Check for pending SDO requests and process one.
fp@1335:  *
fp@1327:  * \return non-zero, if an SDO request is processed.
fp@646:  */
fp@646: int ec_fsm_master_action_process_sdo(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@646:         )
fp@646: {
fp@646:     ec_master_t *master = fsm->master;
fp@1000:     ec_slave_t *slave;
fp@1000:     ec_sdo_request_t *req;
fp@646: 
fp@858:     // search for internal requests to be processed
fp@1000:     for (slave = master->slaves;
fp@1000:             slave < master->slaves + master->slave_count;
fp@1000:             slave++) {
fp@858:         if (!slave->config)
fp@858:             continue;
fp@858:         list_for_each_entry(req, &slave->config->sdo_requests, list) {
fp@1209:             if (req->state == EC_INT_REQUEST_QUEUED) {
fp@880: 
fp@880:                 if (ec_sdo_request_timed_out(req)) {
fp@1209:                     req->state = EC_INT_REQUEST_FAILURE;
fp@880:                     if (master->debug_level)
martin@1583:                         EC_DBG("Internal SDO request for slave %u timed out...\n",
fp@880:                                 slave->ring_position);
fp@880:                     continue;
fp@880:                 }
fp@858: 
fp@987:                 if (slave->current_state == EC_SLAVE_STATE_INIT) {
fp@1209:                     req->state = EC_INT_REQUEST_FAILURE;
fp@858:                     continue;
fp@858:                 }
fp@858: 
fp@1209:                 req->state = EC_INT_REQUEST_BUSY;
fp@858:                 if (master->debug_level)
martin@1583:                     EC_DBG("Processing internal SDO request for slave %u...\n",
fp@858:                             slave->ring_position);
fp@858: 
fp@858:                 fsm->idle = 0;
fp@858:                 fsm->sdo_request = req;
fp@858:                 fsm->slave = slave;
fp@858:                 fsm->state = ec_fsm_master_state_sdo_request;
fp@859:                 ec_fsm_coe_transfer(&fsm->fsm_coe, slave, req);
fp@858:                 ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@858:                 return 1;
fp@858:             }
fp@858:         }
fp@858:     }
fp@646:     return 0;
fp@646: }
fp@646: 
fp@646: /*****************************************************************************/
fp@646: 
fp@1335: /** Check for pending FoE requests and process one.
fp@1335:  *
fp@1335:  * \return non-zero, if an FoE request is processed.
fp@1335:  */
fp@1335: int ec_fsm_master_action_process_foe(
fp@1335:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1335:         )
fp@1335: {
fp@1335:     ec_master_t *master = fsm->master;
fp@1335:     ec_slave_t *slave;
fp@1335:     ec_master_foe_request_t *request;
fp@1335: 
fp@1335:     // search the first request to be processed
fp@1335:     while (1) {
fp@1335:         if (list_empty(&master->foe_requests))
fp@1335:             break;
fp@1335: 
fp@1335:         // get first request
fp@1335:         request = list_entry(master->foe_requests.next,
fp@1335:                 ec_master_foe_request_t, list);
fp@1335:         list_del_init(&request->list); // dequeue
fp@1349:         request->req.state = EC_INT_REQUEST_BUSY;
fp@1335:         slave = request->slave;
fp@1335: 
fp@1335:         if (master->debug_level)
fp@1336:             EC_DBG("Processing FoE request for slave %u.\n",
fp@1336:                     slave->ring_position);
fp@1335: 
fp@1335:         fsm->foe_request = &request->req;
fp@1335:         fsm->slave = slave;
fp@1335:         fsm->state = ec_fsm_master_state_foe_request;
fp@1444:         fsm->idle = 0;
fp@1335:         ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
fp@1335:         ec_fsm_foe_exec(&fsm->fsm_foe);
fp@1335:         return 1;
fp@1335:     }
fp@1335: 
fp@1335:     return 0;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@907: /** Master action: IDLE.
fp@907:  *
fp@907:  * Does secondary work.
fp@907:  */
fp@907: void ec_fsm_master_action_idle(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@656:     ec_slave_t *slave;
fp@304: 
fp@1327:     // Check for pending SDO requests
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return;
fp@646: 
fp@1336:     // Check for pending FoE requests
fp@1336:     if (ec_fsm_master_action_process_foe(fsm))
fp@1336:         return;
fp@1336: 
fp@1327:     // check, if slaves have an SDO dictionary to read out.
fp@1000:     for (slave = master->slaves;
fp@1000:             slave < master->slaves + master->slave_count;
fp@1000:             slave++) {
fp@910:         if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@1219:                 || (slave->sii.has_general
fp@1219:                     && !slave->sii.coe_details.enable_sdo_info)
fp@442:                 || slave->sdo_dictionary_fetched
fp@442:                 || slave->current_state == EC_SLAVE_STATE_INIT
fp@1219:                 || slave->current_state == EC_SLAVE_STATE_UNKNOWN
fp@442:                 || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
fp@987:                 ) continue;
fp@442: 
fp@910:         if (master->debug_level) {
fp@1327:             EC_DBG("Fetching SDO dictionary from slave %u.\n",
fp@910:                     slave->ring_position);
fp@441:         }
fp@442: 
fp@910:         slave->sdo_dictionary_fetched = 1;
fp@910: 
fp@1327:         // start fetching SDO dictionary
fp@910:         fsm->idle = 0;
fp@910:         fsm->slave = slave;
fp@910:         fsm->state = ec_fsm_master_state_sdo_dictionary;
fp@910:         ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
fp@910:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@910:         return;
fp@910:     }
fp@910: 
fp@910:     // check for pending SII write operations.
fp@910:     if (ec_fsm_master_action_process_sii(fsm))
fp@910:         return; // SII write request found
fp@304: 
fp@1388:     // check for pending register requests.
fp@1388:     if (ec_fsm_master_action_process_register(fsm))
fp@1388:         return; // register request processing
fp@1200: 
fp@1031:     ec_fsm_master_restart(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@907: /** Master action: Get state of next slave.
fp@907:  */
fp@907: void ec_fsm_master_action_next_slave_state(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@260: {
fp@260:     ec_master_t *master = fsm->master;
fp@260: 
fp@304:     // is there another slave to query?
fp@1000:     fsm->slave++;
fp@1000:     if (fsm->slave < master->slaves + master->slave_count) {
fp@907:         // fetch state from next slave
fp@650:         fsm->idle = 1;
fp@1000:         ec_datagram_fprd(fsm->datagram,
fp@1000:                 fsm->slave->station_address, 0x0130, 2);
fp@1225:         ec_datagram_zero(fsm->datagram);
fp@505:         fsm->retries = EC_FSM_RETRIES;
fp@907:         fsm->state = ec_fsm_master_state_read_state;
fp@907:         return;
fp@907:     }
fp@907: 
fp@907:     // all slaves processed
fp@907:     ec_fsm_master_action_idle(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master action: Configure.
fp@907:  */
fp@907: void ec_fsm_master_action_configure(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@907:     ec_slave_t *slave = fsm->slave;
fp@907: 
fp@907:     // Does the slave have to be configured?
fp@987:     if ((slave->current_state != slave->requested_state
fp@987:                 || slave->force_config) && !slave->error_flag) {
fp@1177: 
fp@907:         // Start slave configuration, if it is allowed.
fp@907:         down(&master->config_sem);
fp@907:         if (!master->allow_config) {
fp@907:             up(&master->config_sem);
fp@907:         } else {
fp@907:             master->config_busy = 1;
fp@907:             up(&master->config_sem);
fp@907: 
fp@907:             if (master->debug_level) {
fp@908:                 char old_state[EC_STATE_STRING_SIZE],
fp@908:                      new_state[EC_STATE_STRING_SIZE];
fp@1337:                 ec_state_string(slave->current_state, old_state, 0);
fp@1337:                 ec_state_string(slave->requested_state, new_state, 0);
fp@908:                 EC_DBG("Changing state of slave %u from %s to %s%s.\n",
fp@908:                         slave->ring_position, old_state, new_state,
fp@908:                         slave->force_config ? " (forced)" : "");
fp@907:             }
fp@907: 
fp@907:             fsm->idle = 0;
fp@907:             fsm->state = ec_fsm_master_state_configure_slave;
fp@907:             ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fp@907:             fsm->state(fsm); // execute immediately
fp@907:             return;
fp@907:         }
fp@907:     }
fp@907: 
fp@907:     // slave has error flag set; process next one
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@987: /** Master state: READ STATE.
fp@987:  *
fp@987:  * Fetches the AL state of a slave.
fp@987:  */
fp@987: void ec_fsm_master_state_read_state(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_slave_t *slave = fsm->slave;
fp@987:     ec_datagram_t *datagram = fsm->datagram;
fp@987: 
fp@987:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@987:         return;
fp@987: 
fp@987:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@987:         EC_ERR("Failed to receive AL state datagram for slave %u"
fp@987:                 " (datagram state %u)\n",
fp@987:                 slave->ring_position, datagram->state);
fp@1031:         ec_fsm_master_restart(fsm);
fp@987:         return;
fp@987:     }
fp@987: 
fp@987:     // did the slave not respond to its station address?
fp@987:     if (datagram->working_counter != 1) {
fp@987:         if (!slave->error_flag) {
fp@987:             slave->error_flag = 1;
fp@987:             if (fsm->master->debug_level)
fp@987:                 EC_DBG("Slave %u did not respond to state query.\n",
fp@987:                         fsm->slave->ring_position);
fp@987:         }
fp@987:         fsm->topology_change_pending = 1;
fp@1031:         ec_fsm_master_restart(fsm);
fp@987:         return;
fp@987:     }
fp@987: 
fp@987:     // A single slave responded
fp@987:     ec_slave_set_state(slave, EC_READ_U8(datagram->data));
fp@907: 
fp@907:     if (!slave->error_flag) {
fp@907:         // Check, if new slave state has to be acknowledged
fp@907:         if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
fp@907:             fsm->idle = 0;
fp@907:             fsm->state = ec_fsm_master_state_acknowledge;
fp@907:             ec_fsm_change_ack(&fsm->fsm_change, slave);
fp@907:             fsm->state(fsm); // execute immediately
fp@907:             return;
fp@907:         }
fp@907: 
fp@907:         // No acknowlegde necessary; check for configuration
fp@907:         ec_fsm_master_action_configure(fsm);
fp@907:         return;
fp@907:     }
fp@907: 
fp@907:     // slave has error flag set; process next one
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: ACKNOWLEDGE.
fp@907:  */
fp@907: void ec_fsm_master_state_acknowledge(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@454: {
fp@454:     ec_slave_t *slave = fsm->slave;
fp@454: 
fp@907:     if (ec_fsm_change_exec(&fsm->fsm_change))
fp@907:         return;
fp@454: 
fp@454:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@454:         fsm->slave->error_flag = 1;
fp@907:         EC_ERR("Failed to acknowledge state change on slave %u.\n",
fp@454:                slave->ring_position);
fp@907:     }
fp@907: 
fp@907:     ec_fsm_master_action_configure(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: CLEAR ADDRESSES.
fp@907:  */
fp@717: void ec_fsm_master_state_clear_addresses(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@717:         )
fp@717: {
fp@717:     ec_master_t *master = fsm->master;
fp@717:     ec_datagram_t *datagram = fsm->datagram;
fp@717: 
fp@717:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@717:         return;
fp@717: 
fp@717:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@986:         EC_ERR("Failed to receive address clearing datagram (state %u).\n",
fp@717:                 datagram->state);
fp@900:         master->scan_busy = 0;
fp@794:         wake_up_interruptible(&master->scan_queue);
fp@1031:         ec_fsm_master_restart(fsm);
fp@717:         return;
fp@717:     }
fp@717: 
fp@717:     if (datagram->working_counter != master->slave_count) {
fp@717:         EC_WARN("Failed to clear all station addresses: Cleared %u of %u",
fp@717:                 datagram->working_counter, master->slave_count);
fp@717:     }
fp@717: 
fp@1420:     if (master->debug_level)
fp@1420:         EC_DBG("Sending broadcast-write to measure transmission delays.\n");
fp@1420: 
fp@1420:     ec_datagram_bwr(datagram, 0x0900, 1);
fp@1420:     ec_datagram_zero(datagram);
fp@1420:     fsm->retries = EC_FSM_RETRIES;
fp@1420:     fsm->state = ec_fsm_master_state_dc_measure_delays;
fp@1420: }
fp@1420: 
fp@1420: /*****************************************************************************/
fp@1420: 
fp@1420: /** Master state: DC MEASURE DELAYS.
fp@1420:  */
fp@1420: void ec_fsm_master_state_dc_measure_delays(
fp@1420:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1420:         )
fp@1420: {
fp@1420:     ec_master_t *master = fsm->master;
fp@1420:     ec_datagram_t *datagram = fsm->datagram;
fp@1420: 
fp@1420:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1420:         return;
fp@1420: 
fp@1420:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1420:         EC_ERR("Failed to receive delay measuring datagram (state %u).\n",
fp@1420:                 datagram->state);
fp@1420:         master->scan_busy = 0;
fp@1420:         wake_up_interruptible(&master->scan_queue);
fp@1420:         ec_fsm_master_restart(fsm);
fp@1420:         return;
fp@1420:     }
fp@1420: 
fp@1420:     if (master->debug_level)
fp@1420:         EC_DBG("%u slaves responded to delay measuring.\n",
fp@1420:                 datagram->working_counter);
fp@1420: 
fp@717:     EC_INFO("Scanning bus.\n");
fp@717: 
fp@717:     // begin scanning of slaves
fp@1000:     fsm->slave = master->slaves;
fp@907:     fsm->state = ec_fsm_master_state_scan_slave;
fp@830:     ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
fp@830:     ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fp@717: }
fp@717: 
fp@717: /*****************************************************************************/
fp@717: 
fp@907: /** Master state: SCAN SLAVE.
fp@907:  *
fp@652:  * Executes the sub-statemachine for the scanning of a slave.
fp@652:  */
fp@907: void ec_fsm_master_state_scan_slave(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@652:         )
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@1335: #ifdef EC_EOE
fp@637:     ec_slave_t *slave = fsm->slave;
fp@1335: #endif
fp@907:     if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan))
fp@528:         return;
fp@325: 
fp@715: #ifdef EC_EOE
fp@834:     if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {
fp@661:         // create EoE handler for this slave
fp@661:         ec_eoe_t *eoe;
fp@661:         if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
fp@661:             EC_ERR("Failed to allocate EoE handler memory for slave %u!\n",
fp@661:                     slave->ring_position);
fp@900:         } else if (ec_eoe_init(eoe, slave)) {
fp@661:             EC_ERR("Failed to init EoE handler for slave %u!\n",
fp@661:                     slave->ring_position);
fp@661:             kfree(eoe);
fp@900:         } else {
fp@661:             list_add_tail(&eoe->list, &master->eoe_handlers);
fp@661:         }
fp@661:     }
fp@715: #endif
fp@661: 
fp@325:     // another slave to fetch?
fp@1000:     fsm->slave++;
fp@1002:     if (fsm->slave < master->slaves + master->slave_count) {
fp@830:         ec_fsm_slave_scan_start(&fsm->fsm_slave_scan, fsm->slave);
fp@830:         ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan); // execute immediately
fp@325:         return;
fp@325:     }
fp@325: 
fp@652:     EC_INFO("Bus scanning completed in %u ms.\n",
fp@652:             (u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
fp@661: 
fp@900:     master->scan_busy = 0;
fp@900:     wake_up_interruptible(&master->scan_queue);
fp@900: 
fp@1425:     ec_master_calc_dc(master);
fp@1507: 
fp@792:     // Attach slave configurations
fp@792:     ec_master_attach_slave_configs(master);
fp@792: 
fp@716: #ifdef EC_EOE
fp@661:     // check if EoE processing has to be started
fp@661:     ec_master_eoe_start(master);
fp@715: #endif
fp@661: 
fp@1031:     ec_fsm_master_restart(fsm);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@907: /** Master state: CONFIGURE SLAVE.
fp@907:  *
fp@907:  * Starts configuring a slave.
fp@907:  */
fp@907: void ec_fsm_master_state_configure_slave(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@907: {
fp@907:     ec_master_t *master = fsm->master;
fp@907: 
fp@907:     if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config))
fp@907:         return;
fp@907: 
fp@1277:     fsm->slave->force_config = 0;
fp@1277: 
fp@907:     // configuration finished
fp@907:     master->config_busy = 0;
fp@907:     wake_up_interruptible(&master->config_queue);
fp@830: 
fp@900:     if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config)) {
fp@900:         // TODO: mark slave_config as failed.
fp@900:     }
fp@656: 
fp@907:     fsm->idle = 1;
fp@907:     ec_fsm_master_action_next_slave_state(fsm);
fp@907: }
fp@907: 
fp@907: /*****************************************************************************/
fp@907: 
fp@907: /** Master state: WRITE SII.
fp@907:  */
fp@872: void ec_fsm_master_state_write_sii(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@269: {
fp@601:     ec_master_t *master = fsm->master;
fp@872:     ec_sii_write_request_t *request = fsm->sii_request;
fp@601:     ec_slave_t *slave = request->slave;
fp@269: 
fp@435:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@986:         EC_ERR("Failed to write SII data to slave %u.\n",
fp@607:                 slave->ring_position);
fp@1209:         request->state = EC_INT_REQUEST_FAILURE;
fp@872:         wake_up(&master->sii_queue);
fp@1031:         ec_fsm_master_restart(fsm);
fp@872:         return;
fp@872:     }
fp@872: 
fp@872:     fsm->sii_index++;
fp@979:     if (fsm->sii_index < request->nwords) {
fp@601:         ec_fsm_sii_write(&fsm->fsm_sii, slave,
fp@979:                 request->offset + fsm->sii_index,
fp@979:                 request->words + fsm->sii_index,
fp@815:                 EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fp@433:         ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@269:         return;
fp@269:     }
fp@269: 
fp@872:     // finished writing SII
fp@607:     if (master->debug_level)
fp@872:         EC_DBG("Finished writing %u words of SII data to slave %u.\n",
fp@979:                 request->nwords, slave->ring_position);
fp@1079: 
fp@1079:     if (request->offset <= 4 && request->offset + request->nwords > 4) {
fp@1079:         // alias was written
fp@1079:         slave->sii.alias = EC_READ_U16(request->words + 4);
martin@1579:         // TODO: read alias from register 0x0012
fp@1079:     }
fp@1079:     // TODO: Evaluate other SII contents!
fp@1335: 
fp@1209:     request->state = EC_INT_REQUEST_SUCCESS;
fp@872:     wake_up(&master->sii_queue);
fp@872: 
fp@872:     // check for another SII write request
fp@872:     if (ec_fsm_master_action_process_sii(fsm))
fp@601:         return; // processing another request
fp@601: 
fp@1031:     ec_fsm_master_restart(fsm);
fp@419: }
fp@419: 
fp@419: /*****************************************************************************/
fp@419: 
fp@1335: /** Master state: WRITE FOE.
fp@1335:  */
fp@1335: void ec_fsm_master_state_foe_request(
fp@1507:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1335:         )
fp@1335: {
fp@1335:     ec_master_t *master = fsm->master;
fp@1335:     ec_foe_request_t *request = fsm->foe_request;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1336:     if (ec_fsm_foe_exec(&fsm->fsm_foe))
fp@1336:         return;
fp@1335: 
fp@1444:     fsm->idle = 1;
fp@1444: 
fp@1335:     if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
fp@1336:         EC_ERR("Failed to handle FoE request to slave %u.\n",
fp@1335:                 slave->ring_position);
fp@1335:         request->state = EC_INT_REQUEST_FAILURE;
fp@1335:         wake_up(&master->foe_queue);
fp@1335:         ec_fsm_master_restart(fsm);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1336:     // finished transferring FoE
fp@1335:     if (master->debug_level)
fp@1336:         EC_DBG("Successfully transferred %u bytes of FoE data from/to"
fp@1336:                 " slave %u.\n", request->data_size, slave->ring_position);
fp@1335: 
fp@1335:     request->state = EC_INT_REQUEST_SUCCESS;
fp@1335:     wake_up(&master->foe_queue);
fp@1335: 
fp@1335:     ec_fsm_master_restart(fsm);
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@907: /** Master state: SDO DICTIONARY.
fp@907:  */
fp@905: void ec_fsm_master_state_sdo_dictionary(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@905:         )
fp@419: {
fp@419:     ec_slave_t *slave = fsm->slave;
fp@419:     ec_master_t *master = fsm->master;
fp@419: 
fp@436:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@436: 
fp@436:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
fp@1031:         ec_fsm_master_restart(fsm);
fp@419:         return;
fp@419:     }
fp@419: 
fp@1327:     // SDO dictionary fetching finished
fp@419: 
fp@419:     if (master->debug_level) {
fp@423:         unsigned int sdo_count, entry_count;
fp@423:         ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
fp@1327:         EC_DBG("Fetched %u SDOs and %u entries from slave %u.\n",
fp@423:                sdo_count, entry_count, slave->ring_position);
fp@419:     }
fp@419: 
fp@1186:     // attach pdo names from dictionary
fp@1186:     ec_slave_attach_pdo_names(slave);
fp@1186: 
fp@1031:     ec_fsm_master_restart(fsm);
fp@269: }
fp@269: 
fp@430: /*****************************************************************************/
fp@430: 
fp@907: /** Master state: SDO REQUEST.
fp@907:  */
fp@907: void ec_fsm_master_state_sdo_request(
fp@907:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@907:         )
fp@430: {
fp@430:     ec_master_t *master = fsm->master;
fp@858:     ec_sdo_request_t *request = fsm->sdo_request;
fp@436: 
fp@436:     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
fp@436: 
fp@436:     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
martin@1583:         EC_DBG("Failed to process internal SDO request for slave %u.\n",
fp@646:                 fsm->slave->ring_position);
fp@1209:         request->state = EC_INT_REQUEST_FAILURE;
fp@646:         wake_up(&master->sdo_queue);
fp@1031:         ec_fsm_master_restart(fsm);
fp@646:         return;
fp@646:     }
fp@646: 
fp@1335:     // SDO request finished
fp@1209:     request->state = EC_INT_REQUEST_SUCCESS;
fp@646:     wake_up(&master->sdo_queue);
fp@646: 
fp@646:     if (master->debug_level)
martin@1583:         EC_DBG("Finished internal SDO request for slave %u.\n",
fp@646:                 fsm->slave->ring_position);
fp@646: 
fp@1327:     // check for another SDO request
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return; // processing another request
fp@430: 
fp@1031:     ec_fsm_master_restart(fsm);
fp@1031: }
fp@1031: 
fp@1031: /*****************************************************************************/
fp@1200: 
fp@1388: /** Master state: REG REQUEST.
fp@1388:  */
fp@1388: void ec_fsm_master_state_reg_request(
fp@1200:         ec_fsm_master_t *fsm /**< Master state machine. */
fp@1200:         )
fp@1200: {
fp@1200:     ec_master_t *master = fsm->master;
fp@1200:     ec_datagram_t *datagram = fsm->datagram;
fp@1388:     ec_reg_request_t *request = fsm->reg_request;
fp@1200: 
fp@1200:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1388:         EC_ERR("Failed to receive register request datagram (state %u).\n",
fp@1200:                 datagram->state);
fp@1209:         request->state = EC_INT_REQUEST_FAILURE;
fp@1388:         wake_up(&master->reg_queue);
fp@1200:         ec_fsm_master_restart(fsm);
fp@1200:         return;
fp@1200:     }
martin@1579: 
fp@1385:     if (datagram->working_counter == 1) {
fp@1385:         if (request->dir == EC_DIR_INPUT) { // read request
fp@1385:             if (request->data)
fp@1385:                 kfree(request->data);
fp@1385:             request->data = kmalloc(request->length, GFP_KERNEL);
fp@1385:             if (!request->data) {
fp@1388:                 EC_ERR("Failed to allocate %u bytes of memory for"
fp@1388:                         " register data.\n", request->length);
fp@1385:                 request->state = EC_INT_REQUEST_FAILURE;
fp@1388:                 wake_up(&master->reg_queue);
fp@1385:                 ec_fsm_master_restart(fsm);
fp@1385:                 return;
fp@1385:             }
fp@1385:             memcpy(request->data, datagram->data, request->length);
fp@1200:         }
fp@1385: 
fp@1385:         request->state = EC_INT_REQUEST_SUCCESS;
fp@1385:     } else {
fp@1385:         request->state = EC_INT_REQUEST_FAILURE;
fp@1385:     }
fp@1385: 
fp@1388:     wake_up(&master->reg_queue);
fp@1388: 
fp@1388:     // check for another register request
fp@1388:     if (ec_fsm_master_action_process_register(fsm))
fp@1200:         return; // processing another request
fp@1200: 
fp@1200:     ec_fsm_master_restart(fsm);
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/