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 "master.h"
fp@329: #include "mailbox.h"
fp@715: #ifdef EC_EOE
fp@661: #include "ethernet.h"
fp@715: #endif
fp@849: 
fp@528: #include "fsm_master.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@528: void ec_fsm_master_state_read_states(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_validate_product(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_rewrite_addresses(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@528: void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_end(ec_fsm_master_t *);
fp@528: void ec_fsm_master_state_error(ec_fsm_master_t *);
fp@251: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Constructor.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_init(ec_fsm_master_t *fsm, /**< master state machine */
fp@528:         ec_master_t *master, /**< EtherCAT master */
fp@528:         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@528:     fsm->slaves_responding = 0;
fp@553:     fsm->topology_change_pending = 0;
fp@528:     fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
fp@528:     fsm->validate = 0;
fp@612:     fsm->tainted = 0;
fp@238: 
fp@436:     // init sub-state-machines
fp@830:     ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram);
fp@831:     ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
fp@831:             &fsm->fsm_slave_config, &fsm->fsm_coe_map);
fp@528:     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
fp@528:     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
fp@528:     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
fp@741:     ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Destructor.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_clear(ec_fsm_master_t *fsm /**< master state machine */)
fp@238: {
fp@436:     // clear sub-state machines
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@434:     ec_fsm_change_clear(&fsm->fsm_change);
fp@436:     ec_fsm_coe_clear(&fsm->fsm_coe);
fp@741:     ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@260: /**
fp@260:    Executes the current state of the state machine.
fp@505:    If the state machine's datagram is not sent or received yet, the execution
fp@505:    of the state machine is delayed to the next cycle.
fp@435:    \return false, if state machine has terminated
fp@435: */
fp@435: 
fp@528: int ec_fsm_master_exec(ec_fsm_master_t *fsm /**< master state machine */)
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.
fp@528:         return ec_fsm_master_running(fsm);
fp@528:     }
fp@528: 
fp@528:     fsm->state(fsm);
fp@528:     return ec_fsm_master_running(fsm);
fp@456: }
fp@456: 
fp@456: /*****************************************************************************/
fp@456: 
fp@456: /**
fp@650:  * \return false, if state machine has terminated
fp@650:  */
fp@650: 
fp@650: int ec_fsm_master_running(
fp@650:         const ec_fsm_master_t *fsm /**< master state machine */
fp@650:         )
fp@528: {
fp@528:     return fsm->state != ec_fsm_master_state_end
fp@528:         && fsm->state != ec_fsm_master_state_error;
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: 
fp@650: int ec_fsm_master_idle(
fp@650:         const ec_fsm_master_t *fsm /**< master state machine */
fp@650:         )
fp@650: {
fp@650:     return fsm->idle;
fp@650: }
fp@650: 
fp@238: /******************************************************************************
fp@637:  *  master state machine
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@260:    Master state: START.
fp@238:    Starts with getting slave count and slave states.
fp@238: */
fp@238: 
fp@528: void ec_fsm_master_state_start(ec_fsm_master_t *fsm)
fp@528: {
fp@650:     fsm->idle = 1;
fp@528:     ec_datagram_brd(fsm->datagram, 0x0130, 2);
fp@528:     fsm->state = ec_fsm_master_state_broadcast;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: BROADCAST.
fp@260:    Processes the broadcast read slave count and slaves states.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_state_broadcast(ec_fsm_master_t *fsm /**< master state machine */)
fp@528: {
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@553:     unsigned int i;
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@650:     if (datagram->state != EC_DATAGRAM_RECEIVED) { // link is down
fp@528:         fsm->slaves_responding = 0;
fp@505:         list_for_each_entry(slave, &master->slaves, list) {
fp@610:             ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
fp@446:         }
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@238:         return;
fp@238:     }
fp@238: 
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@553: 
fp@792:         EC_INFO("%u slave%s responding.\n",
fp@528:                 fsm->slaves_responding,
fp@528:                 fsm->slaves_responding == 1 ? "" : "s");
fp@262: 
fp@325:         if (master->mode == EC_MASTER_MODE_OPERATION) {
fp@528:             if (fsm->slaves_responding == master->slave_count) {
fp@528:                 fsm->validate = 1; // start validation later
fp@262:             }
fp@262:             else {
fp@262:                 EC_WARN("Invalid slave count. Bus in tainted state.\n");
fp@612:                 fsm->tainted = 1;
fp@262:             }
fp@260:         }
fp@260:     }
fp@260: 
fp@553:     // slave states changed?
fp@553:     if (EC_READ_U8(datagram->data) != fsm->slave_states) {
fp@403:         char states[EC_STATE_STRING_SIZE];
fp@553:         fsm->slave_states = EC_READ_U8(datagram->data);
fp@528:         ec_state_string(fsm->slave_states, states);
fp@325:         EC_INFO("Slave states: %s.\n", states);
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@656:         }
fp@656:         else {
fp@656:             master->scan_state = EC_REQUEST_IN_PROGRESS;
fp@656:             up(&master->scan_sem);
fp@656:             
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->tainted = 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@656:             ec_master_destroy_slaves(master);
fp@656: 
fp@656:             master->slave_count = datagram->working_counter;
fp@656: 
fp@656:             if (!master->slave_count) {
fp@656:                 // no slaves present -> finish state machine.
fp@656:                 master->scan_state = EC_REQUEST_COMPLETE;
fp@656:                 wake_up_interruptible(&master->scan_queue);
fp@656:                 fsm->state = ec_fsm_master_state_end;
fp@260:                 return;
fp@260:             }
fp@260: 
fp@656:             // init slaves
fp@656:             for (i = 0; i < master->slave_count; i++) {
fp@656:                 if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t),
fp@656:                                 GFP_ATOMIC))) {
fp@656:                     EC_ERR("Failed to allocate slave %i!\n", i);
fp@656:                     ec_master_destroy_slaves(master);
fp@656:                     master->scan_state = EC_REQUEST_FAILURE;
fp@656:                     wake_up_interruptible(&master->scan_queue);
fp@656:                     fsm->state = ec_fsm_master_state_error;
fp@656:                     return;
fp@656:                 }
fp@656: 
fp@656:                 if (ec_slave_init(slave, master, i, i + 1)) {
fp@656:                     // freeing of "slave" already done
fp@656:                     ec_master_destroy_slaves(master);
fp@656:                     master->scan_state = EC_REQUEST_FAILURE;
fp@656:                     wake_up_interruptible(&master->scan_queue);
fp@656:                     fsm->state = ec_fsm_master_state_error;
fp@656:                     return;
fp@656:                 }
fp@656: 
fp@656:                 list_add_tail(&slave->list, &master->slaves);
fp@260:             }
fp@260: 
fp@717:             if (master->debug_level)
fp@717:                 EC_DBG("Clearing station addresses...\n");
fp@717: 
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@260:     // fetch state from each slave
fp@260:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@815:     ec_datagram_fprd(fsm->datagram, fsm->slave->station_address, 0x0130, 2);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@528:     fsm->state = ec_fsm_master_state_read_states;
fp@304: }
fp@304: 
fp@304: /*****************************************************************************/
fp@304: 
fp@304: /**
fp@601:  * Check for pending EEPROM write requests and process one.
fp@601:  * \return non-zero, if an EEPROM write request is processed.
fp@601:  */
fp@601: 
fp@601: int ec_fsm_master_action_process_eeprom(
fp@601:         ec_fsm_master_t *fsm /**< master state machine */
fp@601:         )
fp@601: {
fp@601:     ec_master_t *master = fsm->master;
fp@604:     ec_eeprom_write_request_t *request;
fp@601:     ec_slave_t *slave;
fp@601: 
fp@604:     // search the first request to be processed
fp@604:     while (1) {
fp@604:         down(&master->eeprom_sem);
fp@604:         if (list_empty(&master->eeprom_requests)) {
fp@604:             up(&master->eeprom_sem);
fp@604:             break;
fp@604:         }
fp@604:         // get first request
fp@604:         request = list_entry(master->eeprom_requests.next,
fp@604:                 ec_eeprom_write_request_t, list);
fp@601:         list_del_init(&request->list); // dequeue
fp@649:         request->state = EC_REQUEST_IN_PROGRESS;
fp@601:         up(&master->eeprom_sem);
fp@601: 
fp@601:         slave = request->slave;
fp@729:         if (slave->online_state == EC_SLAVE_OFFLINE) {
fp@729:             EC_ERR("Discarding EEPROM data, slave %i offline.\n",
fp@601:                     slave->ring_position);
fp@649:             request->state = EC_REQUEST_FAILURE;
fp@605:             wake_up(&master->eeprom_queue);
fp@601:             continue;
fp@601:         }
fp@601: 
fp@601:         // found pending EEPROM write operation. execute it!
fp@607:         if (master->debug_level)
fp@607:             EC_DBG("Writing EEPROM data to slave %i...\n",
fp@607:                     slave->ring_position);
fp@601:         fsm->eeprom_request = request;
fp@601:         fsm->eeprom_index = 0;
fp@754:         ec_fsm_sii_write(&fsm->fsm_sii, request->slave, request->word_offset,
fp@815:                 request->data, EC_FSM_SII_USE_CONFIGURED_ADDRESS);
fp@601:         fsm->state = ec_fsm_master_state_write_eeprom;
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@601: /**
fp@814:  * Check for pending Sdo requests and process one.
fp@814:  * \return non-zero, if an Sdo request is processed.
fp@646:  */
fp@646: 
fp@646: int ec_fsm_master_action_process_sdo(
fp@646:         ec_fsm_master_t *fsm /**< master state machine */
fp@646:         )
fp@646: {
fp@646:     ec_master_t *master = fsm->master;
fp@849:     ec_master_sdo_request_t *request;
fp@646:     ec_slave_t *slave;
fp@646: 
fp@646:     // search the first request to be processed
fp@646:     while (1) {
fp@646:         down(&master->sdo_sem);
fp@849:         if (list_empty(&master->slave_sdo_requests)) {
fp@646:             up(&master->sdo_sem);
fp@646:             break;
fp@646:         }
fp@646:         // get first request
fp@849:         request = list_entry(master->slave_sdo_requests.next,
fp@849:                 ec_master_sdo_request_t, list);
fp@646:         list_del_init(&request->list); // dequeue
fp@849:         request->req.state = EC_REQUEST_IN_PROGRESS;
fp@646:         up(&master->sdo_sem);
fp@646: 
fp@831:         slave = request->slave;
fp@646:         if (slave->current_state == EC_SLAVE_STATE_INIT ||
fp@646:                 slave->online_state == EC_SLAVE_OFFLINE ||
fp@646:                 slave->error_flag) {
fp@849:             EC_ERR("Discarding Sdo request, slave %u not ready.\n",
fp@646:                     slave->ring_position);
fp@849:             request->req.state = EC_REQUEST_FAILURE;
fp@646:             wake_up(&master->sdo_queue);
fp@646:             continue;
fp@646:         }
fp@646: 
fp@849:         // Found pending Sdo request. Execute it!
fp@646:         if (master->debug_level)
fp@814:             EC_DBG("Processing Sdo request for slave %i...\n",
fp@646:                     slave->ring_position);
fp@646: 
fp@849:         // Start uploading Sdo
fp@650:         fsm->idle = 0;
fp@646:         fsm->sdo_request = request;
fp@646:         fsm->state = ec_fsm_master_state_sdo_request;
fp@849:         ec_fsm_coe_upload(&fsm->fsm_coe, slave, &request->req);
fp@646:         ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@646:         return 1;
fp@646:     }
fp@646: 
fp@646:     return 0;
fp@646: }
fp@646: 
fp@646: /*****************************************************************************/
fp@646: 
fp@646: /**
fp@758:  * Check for slaves that are not configured and configure them.
fp@656:  */
fp@656: 
fp@656: int ec_fsm_master_action_configure(
fp@656:         ec_fsm_master_t *fsm /**< master state machine */
fp@656:         )
fp@656: {
fp@656:     ec_slave_t *slave;
fp@304:     ec_master_t *master = fsm->master;
fp@403:     char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
fp@304: 
fp@304:     // check if any slaves are not in the state, they're supposed to be
fp@656:     // FIXME do not check all slaves in every cycle...
fp@304:     list_for_each_entry(slave, &master->slaves, list) {
fp@421:         if (slave->error_flag
fp@656:                 || slave->online_state == EC_SLAVE_OFFLINE
fp@656:                 || slave->requested_state == EC_SLAVE_STATE_UNKNOWN
fp@656:                 || (slave->current_state == slave->requested_state
fp@656:                     && slave->self_configured)) continue;
fp@421: 
fp@446:         if (master->debug_level) {
fp@446:             ec_state_string(slave->current_state, old_state);
fp@523:             if (slave->current_state != slave->requested_state) {
fp@523:                 ec_state_string(slave->requested_state, new_state);
fp@523:                 EC_DBG("Changing state of slave %i (%s -> %s).\n",
fp@656:                         slave->ring_position, old_state, new_state);
fp@523:             }
fp@523:             else if (!slave->self_configured) {
fp@523:                 EC_DBG("Reconfiguring slave %i (%s).\n",
fp@656:                         slave->ring_position, old_state);
fp@523:             }
fp@421:         }
fp@304: 
fp@650:         fsm->idle = 0;
fp@304:         fsm->slave = slave;
fp@637:         fsm->state = ec_fsm_master_state_configure_slave;
fp@830:         ec_fsm_slave_config_start(&fsm->fsm_slave_config, slave);
fp@830:         ec_fsm_slave_config_exec(&fsm->fsm_slave_config); // execute immediately
fp@656:         return 1;
fp@656:     }
fp@656: 
fp@656:     if (fsm->config_error)
fp@656:         master->config_state = EC_REQUEST_FAILURE;
fp@656:     else
fp@656:         master->config_state = EC_REQUEST_COMPLETE;
fp@656:     wake_up_interruptible(&master->config_queue);
fp@656:     return 0;
fp@656: }
fp@656: 
fp@656: /*****************************************************************************/
fp@656: 
fp@656: /**
fp@656:    Master action: PROC_STATES.
fp@656:    Processes the slave states.
fp@656: */
fp@656: 
fp@656: void ec_fsm_master_action_process_states(ec_fsm_master_t *fsm
fp@656:                                          /**< master state machine */
fp@656:                                          )
fp@656: {
fp@656:     ec_master_t *master = fsm->master;
fp@656:     ec_slave_t *slave;
fp@656: 
fp@656:     down(&master->config_sem);
fp@656:     if (!master->allow_config) {
fp@656:         up(&master->config_sem);
fp@792:     } else {
fp@656:         master->config_state = EC_REQUEST_IN_PROGRESS;
fp@656:         fsm->config_error = 0;
fp@656:         up(&master->config_sem);
fp@792: 
fp@656:         // check for pending slave configurations
fp@656:         if (ec_fsm_master_action_configure(fsm))
fp@656:             return;
fp@304:     }
fp@304: 
fp@814:     // Check for a pending Sdo request
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return;
fp@646: 
fp@442:     if (master->mode == EC_MASTER_MODE_IDLE) {
fp@442: 
fp@814:         // check, if slaves have an Sdo dictionary to read out.
fp@442:         list_for_each_entry(slave, &master->slaves, list) {
fp@834:             if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@442:                 || slave->sdo_dictionary_fetched
fp@442:                 || slave->current_state == EC_SLAVE_STATE_INIT
fp@442:                 || jiffies - slave->jiffies_preop < EC_WAIT_SDO_DICT * HZ
fp@610:                 || slave->online_state == EC_SLAVE_OFFLINE
fp@442:                 || slave->error_flag) continue;
fp@442: 
fp@442:             if (master->debug_level) {
fp@814:                 EC_DBG("Fetching Sdo dictionary from slave %i.\n",
fp@442:                        slave->ring_position);
fp@442:             }
fp@442: 
fp@442:             slave->sdo_dictionary_fetched = 1;
fp@442: 
fp@814:             // start fetching Sdo dictionary
fp@650:             fsm->idle = 0;
fp@441:             fsm->slave = slave;
fp@528:             fsm->state = ec_fsm_master_state_sdodict;
fp@442:             ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
fp@441:             ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
fp@441:             return;
fp@441:         }
fp@442: 
fp@442:         // check for pending EEPROM write operations.
fp@601:         if (ec_fsm_master_action_process_eeprom(fsm))
fp@601:             return; // EEPROM write request found
fp@304:     }
fp@304: 
fp@528:     fsm->state = ec_fsm_master_state_end;
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master action: Get state of next slave.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *fsm
fp@528:                                            /**< master state machine */)
fp@260: {
fp@260:     ec_master_t *master = fsm->master;
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@304:     // is there another slave to query?
fp@292:     if (slave->list.next != &master->slaves) {
fp@292:         // process next slave
fp@650:         fsm->idle = 1;
fp@637:         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
fp@815:         ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
fp@293:                          0x0130, 2);
fp@505:         fsm->retries = EC_FSM_RETRIES;
fp@528:         fsm->state = ec_fsm_master_state_read_states;
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // all slave states read
fp@304: 
fp@304:     // check, if a bus validation has to be done
fp@528:     if (fsm->validate) {
fp@528:         fsm->validate = 0;
fp@292:         list_for_each_entry(slave, &master->slaves, list) {
fp@610:             if (slave->online_state == EC_SLAVE_ONLINE) continue;
fp@292: 
fp@292:             // At least one slave is offline. validate!
fp@292:             EC_INFO("Validating bus.\n");
fp@650:             fsm->idle = 0;
fp@292:             fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@528:             fsm->state = ec_fsm_master_state_validate_vendor;
fp@815:             ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008,
fp@815:                     EC_FSM_SII_USE_INCREMENT_ADDRESS);
fp@433:             ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@292:             return;
fp@251:         }
fp@292:     }
fp@292: 
fp@304:     ec_fsm_master_action_process_states(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@409:    Master state: READ STATES.
fp@260:    Fetches the AL- and online state of a slave.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_state_read_states(ec_fsm_master_t *fsm /**< master state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@260: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@325:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@594:         EC_ERR("Failed to receive AL state datagram for slave %i"
fp@713:                 " (datagram state %i)\n",
fp@713:                 slave->ring_position, datagram->state);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // did the slave not respond to its station address?
fp@713:     if (datagram->working_counter == 0) {
fp@610:         ec_slave_set_online_state(slave, EC_SLAVE_OFFLINE);
fp@260:         ec_fsm_master_action_next_slave_state(fsm);
fp@260:         return;
fp@260:     }
fp@260: 
fp@713:     // FIXME what to to on multiple response?
fp@713: 
fp@260:     // slave responded
fp@610:     ec_slave_set_state(slave, EC_READ_U8(datagram->data)); // set app state first
fp@610:     ec_slave_set_online_state(slave, EC_SLAVE_ONLINE);
fp@260: 
fp@454:     // check, if new slave state has to be acknowledged
fp@454:     if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
fp@650:         fsm->idle = 0;
fp@637:         fsm->state = ec_fsm_master_state_acknowledge;
fp@454:         ec_fsm_change_ack(&fsm->fsm_change, slave);
fp@454:         ec_fsm_change_exec(&fsm->fsm_change);
fp@454:         return;
fp@454:     }
fp@454: 
fp@454:     ec_fsm_master_action_next_slave_state(fsm);
fp@454: }
fp@454: 
fp@454: /*****************************************************************************/
fp@454: 
fp@454: /**
fp@454:    Master state: ACKNOWLEDGE
fp@454: */
fp@454: 
fp@528: void ec_fsm_master_state_acknowledge(ec_fsm_master_t *fsm /**< master state machine */)
fp@454: {
fp@454:     ec_slave_t *slave = fsm->slave;
fp@454: 
fp@454:     if (ec_fsm_change_exec(&fsm->fsm_change)) return;
fp@454: 
fp@454:     if (!ec_fsm_change_success(&fsm->fsm_change)) {
fp@454:         fsm->slave->error_flag = 1;
fp@454:         EC_ERR("Failed to acknowledge state change on slave %i.\n",
fp@454:                slave->ring_position);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@454:         return;
fp@454:     }
fp@454: 
fp@260:     ec_fsm_master_action_next_slave_state(fsm);
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@260:    Master state: VALIDATE_VENDOR.
fp@260:    Validates the vendor ID of a slave.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_state_validate_vendor(ec_fsm_master_t *fsm /**< master state machine */)
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@260: 
fp@435:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@292:         fsm->slave->error_flag = 1;
fp@260:         EC_ERR("Failed to validate vendor ID of slave %i.\n",
fp@260:                slave->ring_position);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@834:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii.vendor_id) {
fp@446:         EC_ERR("Slave %i has an invalid vendor ID!\n", slave->ring_position);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@238:         return;
fp@238:     }
fp@238: 
fp@260:     // vendor ID is ok. check product code.
fp@528:     fsm->state = ec_fsm_master_state_validate_product;
fp@815:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A,
fp@815:             EC_FSM_SII_USE_INCREMENT_ADDRESS);
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@304:    Master action: ADDRESS.
fp@260:    Looks for slave, that have lost their configuration and writes
fp@260:    their station address, so that they can be reconfigured later.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_action_addresses(ec_fsm_master_t *fsm /**< master state machine */)
fp@528: {
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@260: 
fp@610:     while (fsm->slave->online_state == EC_SLAVE_ONLINE) {
fp@260:         if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@637:             fsm->state = ec_fsm_master_state_end;
fp@238:             return;
fp@238:         }
fp@260:         // check next slave
fp@260:         fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@260:     }
fp@260: 
fp@446:     if (fsm->master->debug_level)
fp@446:         EC_DBG("Reinitializing slave %i.\n", fsm->slave->ring_position);
fp@260: 
fp@260:     // write station address
fp@293:     ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x0010, 2);
fp@293:     EC_WRITE_U16(datagram->data, fsm->slave->station_address);
fp@505:     fsm->retries = EC_FSM_RETRIES;
fp@528:     fsm->state = ec_fsm_master_state_rewrite_addresses;
fp@304: }
fp@304: 
fp@304: /*****************************************************************************/
fp@304: 
fp@304: /**
fp@304:    Master state: VALIDATE_PRODUCT.
fp@304:    Validates the product ID of a slave.
fp@304: */
fp@304: 
fp@528: void ec_fsm_master_state_validate_product(ec_fsm_master_t *fsm /**< master state machine */)
fp@304: {
fp@304:     ec_slave_t *slave = fsm->slave;
fp@304: 
fp@435:     if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
fp@433: 
fp@433:     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fp@304:         fsm->slave->error_flag = 1;
fp@304:         EC_ERR("Failed to validate product code of slave %i.\n",
fp@304:                slave->ring_position);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@304:         return;
fp@304:     }
fp@304: 
fp@834:     if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii.product_code) {
fp@304:         EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
fp@834:         EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii.product_code,
fp@433:                EC_READ_U32(fsm->fsm_sii.value));
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // have all states been validated?
fp@304:     if (slave->list.next == &fsm->master->slaves) {
fp@642:         fsm->topology_change_pending = 0;
fp@612:         fsm->tainted = 0;
fp@304:         fsm->slave = list_entry(fsm->master->slaves.next, ec_slave_t, list);
fp@304:         // start writing addresses to offline slaves
fp@304:         ec_fsm_master_action_addresses(fsm);
fp@304:         return;
fp@304:     }
fp@304: 
fp@304:     // validate next slave
fp@304:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@528:     fsm->state = ec_fsm_master_state_validate_vendor;
fp@815:     ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008,
fp@815:             EC_FSM_SII_USE_INCREMENT_ADDRESS);
fp@433:     ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
fp@260: }
fp@260: 
fp@260: /*****************************************************************************/
fp@260: 
fp@260: /**
fp@409:    Master state: REWRITE ADDRESS.
fp@260:    Checks, if the new station address has been written to the slave.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_state_rewrite_addresses(ec_fsm_master_t *fsm
fp@528:                                      /**< master state machine */
fp@304:                                      )
fp@260: {
fp@260:     ec_slave_t *slave = fsm->slave;
fp@528:     ec_datagram_t *datagram = fsm->datagram;
fp@293: 
fp@637:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@637:         return;
fp@505: 
fp@505:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@594:         EC_ERR("Failed to receive address datagram for slave %i"
fp@594:                 " (datagram state %i).\n",
fp@594:                 slave->ring_position, datagram->state);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@505:         return;
fp@505:     }
fp@505: 
fp@505:     if (datagram->working_counter != 1) {
fp@713:         EC_ERR("Failed to write station address of slave %i: ",
fp@505:                slave->ring_position);
fp@713:         ec_datagram_print_wc_error(datagram);
fp@528:         fsm->state = ec_fsm_master_state_error;
fp@505:         return;
fp@260:     }
fp@260: 
fp@260:     if (fsm->slave->list.next == &fsm->master->slaves) { // last slave?
fp@637:         fsm->state = ec_fsm_master_state_end;
fp@260:         return;
fp@260:     }
fp@260: 
fp@260:     // check next slave
fp@260:     fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fp@304:     // Write new station address to slave
fp@304:     ec_fsm_master_action_addresses(fsm);
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@717:  * Master state: CLEAR ADDRESSES.
fp@717:  */
fp@717: 
fp@717: void ec_fsm_master_state_clear_addresses(
fp@717:         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@717:         EC_ERR("Failed to receive address clearing datagram (state %i).\n",
fp@717:                 datagram->state);
fp@794:         master->scan_state = EC_REQUEST_FAILURE;
fp@794:         wake_up_interruptible(&master->scan_queue);
fp@717:         fsm->state = ec_fsm_master_state_error;
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@717:     EC_INFO("Scanning bus.\n");
fp@717: 
fp@717:     // begin scanning of slaves
fp@717:     fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fp@717:     fsm->state = ec_fsm_master_state_scan_slaves;
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@717: /**
fp@652:  * Master state: SCAN SLAVES.
fp@652:  * Executes the sub-statemachine for the scanning of a slave.
fp@652:  */
fp@652: 
fp@652: void ec_fsm_master_state_scan_slaves(
fp@652:         ec_fsm_master_t *fsm /**< master state machine */
fp@652:         )
fp@238: {
fp@238:     ec_master_t *master = fsm->master;
fp@637:     ec_slave_t *slave = fsm->slave;
fp@325: 
fp@830:     if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) // execute slave state machine
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@661:         }
fp@661:         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@661:         }
fp@661:         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@637:     if (slave->list.next != &master->slaves) {
fp@637:         fsm->slave = list_entry(slave->list.next, ec_slave_t, list);
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@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@656:     master->scan_state = EC_REQUEST_COMPLETE;
fp@656:     wake_up_interruptible(&master->scan_queue);
fp@446: 
fp@528:     fsm->state = ec_fsm_master_state_end;
fp@238: }
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: /**
fp@409:    Master state: CONFIGURE SLAVES.
fp@260:    Starts configuring a slave.
fp@260: */
fp@260: 
fp@528: void ec_fsm_master_state_configure_slave(ec_fsm_master_t *fsm
fp@528:                                    /**< master state machine */
fp@304:                                    )
fp@260: {
fp@830:     if (ec_fsm_slave_config_exec(&fsm->fsm_slave_config)) // execute slave's state machine
fp@830:         return;
fp@830: 
fp@830:     if (!ec_fsm_slave_config_success(&fsm->fsm_slave_config))
fp@656:         fsm->config_error = 1;
fp@656: 
fp@656:     // configure next slave, if necessary
fp@656:     if (ec_fsm_master_action_configure(fsm))
fp@656:         return;
fp@656: 
fp@656:     fsm->state = ec_fsm_master_state_end;
fp@238: }
fp@238: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@409:    Master state: WRITE EEPROM.
fp@269: */
fp@269: 
fp@607: void ec_fsm_master_state_write_eeprom(
fp@607:         ec_fsm_master_t *fsm /**< master state machine */)
fp@269: {
fp@601:     ec_master_t *master = fsm->master;
fp@601:     ec_eeprom_write_request_t *request = fsm->eeprom_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@601:         slave->error_flag = 1;
fp@607:         EC_ERR("Failed to write EEPROM data to slave %i.\n",
fp@607:                 slave->ring_position);
fp@649:         request->state = EC_REQUEST_FAILURE;
fp@605:         wake_up(&master->eeprom_queue);
fp@601:         fsm->state = ec_fsm_master_state_error;
fp@601:         return;
fp@601:     }
fp@601: 
fp@601:     fsm->eeprom_index++;
fp@754:     if (fsm->eeprom_index < request->word_size) {
fp@601:         ec_fsm_sii_write(&fsm->fsm_sii, slave,
fp@754:                 request->word_offset + fsm->eeprom_index,
fp@754:                 request->data + fsm->eeprom_index * 2,
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@269:     // finished writing EEPROM
fp@607:     if (master->debug_level)
fp@743:         EC_DBG("Finished writing %u words of EEPROM data to slave %u.\n",
fp@754:                 request->word_size, slave->ring_position);
fp@649:     request->state = EC_REQUEST_COMPLETE;
fp@605:     wake_up(&master->eeprom_queue);
fp@269: 
fp@325:     // TODO: Evaluate new EEPROM contents!
fp@325: 
fp@601:     // check for another EEPROM write request
fp@601:     if (ec_fsm_master_action_process_eeprom(fsm))
fp@601:         return; // processing another request
fp@601: 
fp@637:     fsm->state = ec_fsm_master_state_end;
fp@419: }
fp@419: 
fp@419: /*****************************************************************************/
fp@419: 
fp@419: /**
fp@814:    Master state: SdoDICT.
fp@419: */
fp@419: 
fp@528: void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
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@528:         fsm->state = ec_fsm_master_state_error;
fp@419:         return;
fp@419:     }
fp@419: 
fp@814:     // 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@814:         EC_DBG("Fetched %i Sdos and %i entries from slave %i.\n",
fp@423:                sdo_count, entry_count, slave->ring_position);
fp@419:     }
fp@419: 
fp@637:     fsm->state = ec_fsm_master_state_end;
fp@269: }
fp@269: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@831:    Master state: SDO REQUEST.
fp@430: */
fp@430: 
fp@528: void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
fp@430: {
fp@430:     ec_master_t *master = fsm->master;
fp@849:     ec_master_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)) {
fp@814:         EC_DBG("Failed to process Sdo request for slave %i.\n",
fp@646:                 fsm->slave->ring_position);
fp@849:         request->req.state = EC_REQUEST_FAILURE;
fp@646:         wake_up(&master->sdo_queue);
fp@646:         fsm->state = ec_fsm_master_state_error;
fp@646:         return;
fp@646:     }
fp@646: 
fp@814:     // Sdo request finished 
fp@849:     request->req.state = EC_REQUEST_COMPLETE;
fp@646:     wake_up(&master->sdo_queue);
fp@646: 
fp@646:     if (master->debug_level)
fp@814:         EC_DBG("Finished Sdo request for slave %i.\n",
fp@646:                 fsm->slave->ring_position);
fp@646: 
fp@814:     // check for another Sdo request
fp@646:     if (ec_fsm_master_action_process_sdo(fsm))
fp@646:         return; // processing another request
fp@430: 
fp@637:     fsm->state = ec_fsm_master_state_end;
fp@430: }
fp@430: 
fp@446: /*****************************************************************************/
fp@446: 
fp@446: /**
fp@446:    State: ERROR.
fp@446: */
fp@446: 
fp@528: void ec_fsm_master_state_error(
fp@528:         ec_fsm_master_t *fsm /**< master state machine */
fp@528:         )
fp@528: {
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@446: /**
fp@446:    State: END.
fp@446: */
fp@446: 
fp@528: void ec_fsm_master_state_end(ec_fsm_master_t *fsm /**< master state machine */)
fp@528: {
fp@528:     fsm->state = ec_fsm_master_state_start;
fp@528: }
fp@528: 
fp@528: /*****************************************************************************/
fp@528: