fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@238:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@238:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@238:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@238:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@238:  *  GNU General Public License for more details.
fp@238:  *
fp@238:  *  You should have received a copy of the GNU General Public License
fp@238:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@238:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@238:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    \file
fp@238:    EtherCAT finite state machines.
fp@238: */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #include "globals.h"
fp@238: #include "fsm.h"
fp@238: #include "master.h"
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #define EC_CAT_MEM 0x100
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *);
fp@238: void ec_fsm_master_wait(ec_fsm_t *);
fp@238: void ec_fsm_master_slave(ec_fsm_t *);
fp@238: void ec_fsm_master_calc(ec_fsm_t *);
fp@238: void ec_fsm_master_finished(ec_fsm_t *);
fp@238: 
fp@238: void ec_fsm_slave_start(ec_fsm_t *);
fp@238: void ec_fsm_slave_read_base(ec_fsm_t *);
fp@238: void ec_fsm_slave_read_dl(ec_fsm_t *);
fp@238: void ec_fsm_slave_prepare_sii(ec_fsm_t *);
fp@238: void ec_fsm_slave_read_sii(ec_fsm_t *);
fp@238: void ec_fsm_slave_categories(ec_fsm_t *);
fp@238: void ec_fsm_slave_category_header(ec_fsm_t *);
fp@238: void ec_fsm_slave_category_data(ec_fsm_t *);
fp@238: void ec_fsm_slave_finished(ec_fsm_t *);
fp@238: 
fp@238: void ec_fsm_sii_start_reading(ec_fsm_t *);
fp@238: void ec_fsm_sii_check(ec_fsm_t *);
fp@238: void ec_fsm_sii_fetch(ec_fsm_t *);
fp@238: void ec_fsm_sii_finished(ec_fsm_t *);
fp@238: void ec_fsm_sii_error(ec_fsm_t *);
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: int ec_fsm_init(ec_fsm_t *fsm, ec_master_t *master)
fp@238: {
fp@238:     fsm->master = master;
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238:     fsm->slave_cat_data = NULL;
fp@238: 
fp@238:     ec_command_init(&fsm->command);
fp@238:     if (ec_command_prealloc(&fsm->command, EC_MAX_DATA_SIZE)) {
fp@238:         EC_ERR("FSM failed to allocate FSM command.\n");
fp@238:         return -1;
fp@238:     }
fp@238: 
fp@238:     return 0;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_clear(ec_fsm_t *fsm)
fp@238: {
fp@238:     if (fsm->slave_cat_data) kfree(fsm->slave_cat_data);
fp@238:     ec_command_clear(&fsm->command);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_reset(ec_fsm_t *fsm)
fp@238: {
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_slaves_responding = 0;
fp@238:     fsm->master_slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@238: 
fp@238:     if (fsm->slave_cat_data) {
fp@238:         kfree(fsm->slave_cat_data);
fp@238:         fsm->slave_cat_data = NULL;
fp@238:     }
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_execute(ec_fsm_t *fsm)
fp@238: {
fp@238:     fsm->master_state(fsm);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: int ec_fsm_idle(const ec_fsm_t *fsm)
fp@238: {
fp@238:     return (fsm->master_state == ec_fsm_master_start ||
fp@238:             fsm->master_state == ec_fsm_master_wait ||
fp@238:             fsm->master_state == ec_fsm_master_finished);
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@238:  *  master state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    State: Start.
fp@238:    Starts with getting slave count and slave states.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_start(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_brd(&fsm->command, 0x0130, 2);
fp@238:     ec_master_queue_command(fsm->master, &fsm->command);
fp@238: 
fp@238:     fsm->master_state = ec_fsm_master_wait;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: void ec_fsm_master_wait(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238:     unsigned int first, topology_change, i;
fp@238:     ec_slave_t *slave;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED) {
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     if (command->working_counter == fsm->master_slaves_responding &&
fp@238:         command->data[0] == fsm->master_slave_states) {
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     topology_change = command->working_counter !=
fp@238:         fsm->master_slaves_responding;
fp@238: 
fp@238:     fsm->master_slaves_responding = command->working_counter;
fp@238:     fsm->master_slave_states = command->data[0];
fp@238: 
fp@238:     EC_INFO("FSM: %i slave%s responding (", fsm->master_slaves_responding,
fp@238:             fsm->master_slaves_responding == 1 ? "" : "s");
fp@238: 
fp@238:     first = 1;
fp@238:     if (fsm->master_slave_states & EC_SLAVE_STATE_INIT) {
fp@238:         printk("INIT");
fp@238:         first = 0;
fp@238:     }
fp@238:     if (fsm->master_slave_states & EC_SLAVE_STATE_PREOP) {
fp@238:         if (!first) printk(", ");
fp@238:         printk("PREOP");
fp@238:         first = 0;
fp@238:     }
fp@238:     if (fsm->master_slave_states & EC_SLAVE_STATE_SAVEOP) {
fp@238:         if (!first) printk(", ");
fp@238:         printk("SAVEOP");
fp@238:         first = 0;
fp@238:     }
fp@238:     if (fsm->master_slave_states & EC_SLAVE_STATE_OP) {
fp@238:         if (!first) printk(", ");
fp@238:         printk("OP");
fp@238:     }
fp@238:     printk(")\n");
fp@238: 
fp@238:     if (!topology_change || fsm->master->mode == EC_MASTER_MODE_RUNNING) {
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // topology change!
fp@238:     ec_master_clear_slaves(fsm->master);
fp@238: 
fp@238:     if (!fsm->master_slaves_responding) {
fp@238:         // no slaves present -> finish state machine.
fp@238:         fsm->master_state = ec_fsm_master_start;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // init slaves
fp@238:     for (i = 0; i < fsm->master_slaves_responding; i++) {
fp@238:         if (!(slave =
fp@238:               (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_ATOMIC))) {
fp@238:             EC_ERR("FSM failed to allocate slave %i!\n", i);
fp@238:             fsm->master_state = ec_fsm_master_finished;
fp@238:             return;
fp@238:         }
fp@238: 
fp@238:         if (ec_slave_init(slave, fsm->master, i, i + 1)) {
fp@238:             fsm->master_state = ec_fsm_master_finished;
fp@238:             return;
fp@238:         }
fp@238: 
fp@238:         if (kobject_add(&slave->kobj)) {
fp@238:             EC_ERR("FSM failed to add kobject.\n");
fp@238:             kobject_put(&slave->kobj); // free
fp@238:             fsm->master_state = ec_fsm_master_finished;
fp@238:             return;
fp@238:         }
fp@238: 
fp@238:         list_add_tail(&slave->list, &fsm->master->slaves);
fp@238:     }
fp@238: 
fp@238:     // begin scanning of slaves
fp@238:     fsm->slave = list_entry(fsm->master->slaves.next,
fp@238:                             ec_slave_t, list);
fp@238:     fsm->slave_state = ec_fsm_slave_start;
fp@238: 
fp@238:     fsm->master_state = ec_fsm_master_slave;
fp@238:     fsm->master_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    State: Get Slave.
fp@238:    Executes the sub-statemachine of a slave.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_slave(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@238: 
fp@238:     fsm->slave_state(fsm); // execute slave state machine
fp@238: 
fp@238:     if (fsm->slave_state != ec_fsm_slave_finished) return;
fp@238: 
fp@238:     // have all slaves been fetched?
fp@238:     if (fsm->slave->list.next == &master->slaves) {
fp@238:         fsm->master_state = ec_fsm_master_calc;
fp@238:         fsm->master_state(fsm); // execute immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // process next slave
fp@238:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@238:     fsm->slave_state = ec_fsm_slave_start;
fp@238:     fsm->slave_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Free-Run state: Calc.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_calc(ec_fsm_t *fsm)
fp@238: {
fp@238:     uint16_t coupler_index, coupler_subindex;
fp@238:     uint16_t reverse_coupler_index, current_coupler_index;
fp@238:     ec_slave_t *slave;
fp@238:     ec_slave_ident_t *ident;
fp@238:     ec_master_t *master = fsm->master;
fp@238: 
fp@238:     coupler_index = 0;
fp@238:     reverse_coupler_index = 0xFFFF;
fp@238:     current_coupler_index = 0x3FFF;
fp@238:     coupler_subindex = 0;
fp@238: 
fp@238:     // for every slave on the bus
fp@238:     list_for_each_entry(slave, &master->slaves, list)
fp@238:     {
fp@238:         // search for identification in "database"
fp@238:         ident = slave_idents;
fp@238:         while (ident->type) {
fp@238:             if (unlikely(ident->vendor_id == slave->sii_vendor_id
fp@238:                          && ident->product_code == slave->sii_product_code)) {
fp@238:                 slave->type = ident->type;
fp@238:                 break;
fp@238:             }
fp@238:             ident++;
fp@238:         }
fp@238: 
fp@238:         if (!slave->type) {
fp@238:             EC_WARN("FSM: Unknown slave device (vendor 0x%08X, code 0x%08X) at"
fp@238:                     " position %i.\n", slave->sii_vendor_id,
fp@238:                     slave->sii_product_code, slave->ring_position);
fp@238:         }
fp@238:         else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
fp@238:             if (slave->sii_alias)
fp@238:                 current_coupler_index = reverse_coupler_index--;
fp@238:             else
fp@238:                 current_coupler_index = coupler_index++;
fp@238:             coupler_subindex = 0;
fp@238:         }
fp@238: 
fp@238:         slave->coupler_index = current_coupler_index;
fp@238:         slave->coupler_subindex = coupler_subindex;
fp@238:         coupler_subindex++;
fp@238:     }
fp@238: 
fp@238:     fsm->master_state = ec_fsm_master_start;
fp@238:     fsm->master_state(fsm); // execute immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Free-Run state: Finished.
fp@238:    End state of the state machine. Does nothing.
fp@238: */
fp@238: 
fp@238: void ec_fsm_master_finished(ec_fsm_t *fsm)
fp@238: {
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@238:  *  slave state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Start.
fp@238:    First state of the slave state machine. Writes the station address to the
fp@238:    slave, according to its ring position.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_start(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238: 
fp@238:     // write station address
fp@238:     ec_command_apwr(command, fsm->slave->ring_position, 0x0010, 2);
fp@238:     EC_WRITE_U16(command->data, fsm->slave->station_address);
fp@238:     ec_master_queue_command(fsm->master, command);
fp@238:     fsm->slave_state = ec_fsm_slave_read_base;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Read base.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_read_base(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fp@238:         EC_ERR("FSM failed to write station address of slave %i.\n",
fp@238:                fsm->slave->ring_position);
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // read base data
fp@238:     ec_command_nprd(command, fsm->slave->station_address, 0x0000, 6);
fp@238:     ec_master_queue_command(fsm->master, command);
fp@238:     fsm->slave_state = ec_fsm_slave_read_dl;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Read DL.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_read_dl(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238:     ec_slave_t *slave = fsm->slave;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fp@238:         EC_ERR("FSM failed to read base data of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     slave->base_type       = EC_READ_U8 (command->data);
fp@238:     slave->base_revision   = EC_READ_U8 (command->data + 1);
fp@238:     slave->base_build      = EC_READ_U16(command->data + 2);
fp@238:     slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
fp@238:     slave->base_sync_count = EC_READ_U8 (command->data + 5);
fp@238: 
fp@238:     if (slave->base_fmmu_count > EC_MAX_FMMUS)
fp@238:         slave->base_fmmu_count = EC_MAX_FMMUS;
fp@238: 
fp@238:     // read data link status
fp@238:     ec_command_nprd(command, slave->station_address, 0x0110, 2);
fp@238:     ec_master_queue_command(slave->master, command);
fp@238:     fsm->slave_state = ec_fsm_slave_prepare_sii;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Prepare SII.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_prepare_sii(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238:     ec_slave_t *slave = fsm->slave;
fp@238:     uint16_t dl_status;
fp@238:     unsigned int i;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fp@238:         EC_ERR("FSM failed to read DL status of slave %i.\n",
fp@238:                slave->ring_position);
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     dl_status = EC_READ_U16(command->data);
fp@238: 
fp@238:     for (i = 0; i < 4; i++) {
fp@238:         slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
fp@238:         slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
fp@238:         slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
fp@238:     }
fp@238: 
fp@238:     fsm->sii_offset = 0x0004;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@238:     fsm->slave_sii_num = 0;
fp@238:     fsm->slave_state = ec_fsm_slave_read_sii;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Read SII.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_read_sii(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_slave_t *slave = fsm->slave;
fp@238: 
fp@238:     // execute SII state machine
fp@238:     fsm->sii_state(fsm);
fp@238: 
fp@238:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         EC_ERR("FSM failed to read SII data at 0x%04X on slave %i.\n",
fp@238:                fsm->sii_offset, slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     if (fsm->sii_state != ec_fsm_sii_finished) return;
fp@238: 
fp@238:     switch (fsm->slave_sii_num) {
fp@238:         case 0:
fp@238:             slave->sii_alias = fsm->sii_result & 0xFFFF;
fp@238:             fsm->sii_offset = 0x0008;
fp@238:             break;
fp@238:         case 1:
fp@238:             slave->sii_vendor_id = fsm->sii_result;
fp@238:             fsm->sii_offset = 0x000A;
fp@238:             break;
fp@238:         case 2:
fp@238:             slave->sii_product_code = fsm->sii_result;
fp@238:             fsm->sii_offset = 0x000C;
fp@238:             break;
fp@238:         case 3:
fp@238:             slave->sii_revision_number = fsm->sii_result;
fp@238:             fsm->sii_offset = 0x000E;
fp@238:             break;
fp@238:         case 4:
fp@238:             slave->sii_serial_number = fsm->sii_result;
fp@238:             fsm->sii_offset = 0x0018;
fp@238:             break;
fp@238:         case 5:
fp@238:             slave->sii_rx_mailbox_offset = fsm->sii_result & 0xFFFF;
fp@238:             slave->sii_rx_mailbox_size = fsm->sii_result >> 16;
fp@238:             fsm->sii_offset = 0x001A;
fp@238:             break;
fp@238:         case 6:
fp@238:             slave->sii_tx_mailbox_offset = fsm->sii_result & 0xFFFF;
fp@238:             slave->sii_tx_mailbox_size = fsm->sii_result >> 16;
fp@238:             fsm->sii_offset = 0x001C;
fp@238:             break;
fp@238:         case 7:
fp@238:             slave->sii_mailbox_protocols = fsm->sii_result & 0xFFFF;
fp@238:             fsm->slave_state = ec_fsm_slave_categories;
fp@238:             fsm->slave_state(fsm); // execute state immediately
fp@238:             return;
fp@238:     }
fp@238: 
fp@238:     fsm->slave_sii_num++;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Categories.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_categories(ec_fsm_t *fsm)
fp@238: {
fp@238:     fsm->slave_cat_offset = 0x0040;
fp@238: 
fp@238:     if (fsm->slave_cat_data) {
fp@238:         EC_INFO("FSM freeing old category data on slave %i...\n",
fp@238:                 fsm->slave->ring_position);
fp@238:         kfree(fsm->slave_cat_data);
fp@238:     }
fp@238: 
fp@238:     if (!(fsm->slave_cat_data = (uint8_t *) kmalloc(EC_CAT_MEM, GFP_ATOMIC))) {
fp@238:         EC_ERR("FSM Failed to allocate category data.\n");
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // start reading first category header
fp@238:     fsm->sii_offset = fsm->slave_cat_offset;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@238: 
fp@238:     fsm->slave_state = ec_fsm_slave_category_header;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Read categories.
fp@238:    Start reading categories.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_category_header(ec_fsm_t *fsm)
fp@238: {
fp@238:     // execute SII state machine
fp@238:     fsm->sii_state(fsm);
fp@238: 
fp@238:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@238:         kfree(fsm->slave_cat_data);
fp@238:         fsm->slave_cat_data = NULL;
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         EC_ERR("FSM failed to read category header at 0x%04X on slave %i.\n",
fp@238:                fsm->slave_cat_offset, fsm->slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     if (fsm->sii_state != ec_fsm_sii_finished) return;
fp@238: 
fp@238:     // last category?
fp@238:     if ((fsm->sii_result & 0xFFFF) == 0xFFFF) {
fp@238:         kfree(fsm->slave_cat_data);
fp@238:         fsm->slave_cat_data = NULL;
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     fsm->slave_cat_type = fsm->sii_result & 0x7FFF;
fp@238:     fsm->slave_cat_words = (fsm->sii_result >> 16) & 0xFFFF;
fp@238: 
fp@238:     if (fsm->slave_cat_words > EC_CAT_MEM * 2) {
fp@238:         EC_ERR("FSM category memory too small! %i words needed.\n",
fp@238:                fsm->slave_cat_words);
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // start reading category data
fp@238:     fsm->slave_cat_data_offset = 0;
fp@238:     fsm->sii_offset = (fsm->slave_cat_offset + 2 +
fp@238:                        fsm->slave_cat_data_offset);
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@238:     fsm->slave_state = ec_fsm_slave_category_data;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Category data.
fp@238:    Reads category data.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_category_data(ec_fsm_t *fsm)
fp@238: {
fp@238:     // execute SII state machine
fp@238:     fsm->sii_state(fsm);
fp@238: 
fp@238:     if (fsm->sii_state == ec_fsm_sii_error) {
fp@238:         kfree(fsm->slave_cat_data);
fp@238:         fsm->slave_cat_data = NULL;
fp@238:         fsm->slave_state = ec_fsm_slave_finished;
fp@238:         EC_ERR("FSM failed to read category 0x%02X data at 0x%04X"
fp@238:                " on slave %i.\n", fsm->slave_cat_type, fsm->sii_offset,
fp@238:                fsm->slave->ring_position);
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     if (fsm->sii_state != ec_fsm_sii_finished) return;
fp@238: 
fp@238:     fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
fp@238:         fsm->sii_result & 0xFF;
fp@238:     fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
fp@238:         (fsm->sii_result >> 8) & 0xFF;
fp@238: 
fp@238:     // read second word "on the fly"
fp@238:     if (fsm->slave_cat_data_offset + 1 < fsm->slave_cat_words) {
fp@238:         fsm->slave_cat_data_offset++;
fp@238:         fsm->slave_cat_data[fsm->slave_cat_data_offset * 2] =
fp@238:             (fsm->sii_result >> 16) & 0xFF;
fp@238:         fsm->slave_cat_data[fsm->slave_cat_data_offset * 2 + 1] =
fp@238:             (fsm->sii_result >> 24) & 0xFF;
fp@238:     }
fp@238: 
fp@238:     fsm->slave_cat_data_offset++;
fp@238: 
fp@238:     if (fsm->slave_cat_data_offset < fsm->slave_cat_words) {
fp@238:         fsm->sii_offset = (fsm->slave_cat_offset + 2 +
fp@238:                            fsm->slave_cat_data_offset);
fp@238:         fsm->sii_state = ec_fsm_sii_start_reading;
fp@238:         fsm->slave_state = ec_fsm_slave_category_data;
fp@238:         fsm->slave_state(fsm); // execute state immediately
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // category data complete
fp@238:     switch (fsm->slave_cat_type)
fp@238:     {
fp@238:         case 0x000A:
fp@238:             if (ec_slave_fetch_strings(fsm->slave, fsm->slave_cat_data))
fp@238:                 goto out_free;
fp@238:             break;
fp@238:         case 0x001E:
fp@238:             if (ec_slave_fetch_general(fsm->slave, fsm->slave_cat_data))
fp@238:                 goto out_free;
fp@238:             break;
fp@238:         case 0x0028:
fp@238:             break;
fp@238:         case 0x0029:
fp@238:             if (ec_slave_fetch_sync(fsm->slave, fsm->slave_cat_data,
fp@238:                                     fsm->slave_cat_words))
fp@238:                 goto out_free;
fp@238:             break;
fp@238:         case 0x0032:
fp@238:             if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
fp@238:                                    fsm->slave_cat_words,
fp@238:                                    EC_TX_PDO))
fp@238:                 goto out_free;
fp@238:             break;
fp@238:         case 0x0033:
fp@238:             if (ec_slave_fetch_pdo(fsm->slave, fsm->slave_cat_data,
fp@238:                                    fsm->slave_cat_words,
fp@238:                                    EC_RX_PDO))
fp@238:                 goto out_free;
fp@238:             break;
fp@238:         default:
fp@238:             EC_WARN("FSM: Unknown category type 0x%04X in slave %i.\n",
fp@238:                     fsm->slave_cat_type, fsm->slave->ring_position);
fp@238:     }
fp@238: 
fp@238:     // start reading next category header
fp@238:     fsm->slave_cat_offset += 2 + fsm->slave_cat_words;
fp@238:     fsm->sii_offset = fsm->slave_cat_offset;
fp@238:     fsm->sii_state = ec_fsm_sii_start_reading;
fp@238:     fsm->slave_state = ec_fsm_slave_category_header;
fp@238:     fsm->slave_state(fsm); // execute state immediately
fp@238:     return;
fp@238: 
fp@238:  out_free:
fp@238:     kfree(fsm->slave_cat_data);
fp@238:     fsm->slave_cat_data = NULL;
fp@238:     fsm->slave_state = ec_fsm_slave_finished;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave state: Finished.
fp@238:    End state of the slave state machine.
fp@238: */
fp@238: 
fp@238: void ec_fsm_slave_finished(ec_fsm_t *fsm)
fp@238: {
fp@238: }
fp@238: 
fp@238: /******************************************************************************
fp@238:  *  SII state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave SII state: Start reading.
fp@238:    Starts reading the slave information interface.
fp@238: */
fp@238: 
fp@238: void ec_fsm_sii_start_reading(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238: 
fp@238:     // initiate read operation
fp@238:     ec_command_npwr(command, fsm->slave->station_address, 0x502, 6);
fp@238:     EC_WRITE_U8 (command->data,     0x00); // read-only access
fp@238:     EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
fp@238:     EC_WRITE_U32(command->data + 2, fsm->sii_offset);
fp@238:     ec_master_queue_command(fsm->master, command);
fp@238:     fsm->sii_state = ec_fsm_sii_check;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave SII state: Check.
fp@238:    Checks, if the SII-read-command has been sent and issues a fetch command.
fp@238: */
fp@238: 
fp@238: void ec_fsm_sii_check(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fp@238:         EC_ERR("FSM SII: Reception of check command failed.\n");
fp@238:         fsm->sii_state = ec_fsm_sii_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     ec_command_nprd(command, fsm->slave->station_address, 0x502, 10);
fp@238:     ec_master_queue_command(fsm->master, command);
fp@238:     fsm->sii_state = ec_fsm_sii_fetch;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave SII state: Fetch.
fp@238:    Fetches the result of an SII-read command.
fp@238: */
fp@238: 
fp@238: void ec_fsm_sii_fetch(ec_fsm_t *fsm)
fp@238: {
fp@238:     ec_command_t *command = &fsm->command;
fp@238: 
fp@238:     if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
fp@238:         EC_ERR("FSM SII: Reception of fetch command failed.\n");
fp@238:         fsm->sii_state = ec_fsm_sii_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@238:     // check "busy bit"
fp@238:     if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
fp@238:         fsm->sii_result = EC_READ_U32(command->data + 6);
fp@238:         fsm->sii_state = ec_fsm_sii_finished;
fp@238:     }
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave SII state: Finished.
fp@238:    End state of the slave SII state machine.
fp@238: */
fp@238: 
fp@238: void ec_fsm_sii_finished(ec_fsm_t *fsm)
fp@238: {
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    Slave SII state: Error.
fp@238:    End state of the slave SII state machine.
fp@238: */
fp@238: 
fp@238: void ec_fsm_sii_error(ec_fsm_t *fsm)
fp@238: {
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/