diff -r ef09f0ea0c4c -r 1875b9fea0ba master/fsm_soe.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_soe.c	Mon Mar 01 18:33:42 2010 +0100
@@ -0,0 +1,389 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT SoE state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_soe.h"
+
+/*****************************************************************************/
+
+/** Mailbox type for SoE.
+ */
+#define EC_MBOX_TYPE_SOE 0x05
+
+#define EC_SOE_OPCODE_READ_REQUEST  0x01
+#define EC_SOE_OPCODE_READ_RESPONSE 0x02
+
+#define EC_SOE_READ_REQUEST_SIZE 0x04
+#define EC_SOE_READ_RESPONSE_SIZE 0x04
+
+#define EC_SOE_RESPONSE_TIMEOUT 1000
+
+/*****************************************************************************/
+
+void ec_fsm_soe_read_start(ec_fsm_soe_t *);
+void ec_fsm_soe_read_request(ec_fsm_soe_t *);
+void ec_fsm_soe_read_check(ec_fsm_soe_t *);
+void ec_fsm_soe_read_response(ec_fsm_soe_t *);
+
+void ec_fsm_soe_end(ec_fsm_soe_t *);
+void ec_fsm_soe_error(ec_fsm_soe_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_soe_init(
+		ec_fsm_soe_t *fsm, /**< finite state machine */
+		ec_datagram_t *datagram /**< datagram */
+		)
+{
+    fsm->state = NULL;
+    fsm->datagram = datagram;
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_soe_clear(
+		ec_fsm_soe_t *fsm /**< finite state machine */
+		)
+{
+}
+
+/*****************************************************************************/
+
+/** Starts to transfer an IDN to/from a slave.
+ */
+void ec_fsm_soe_transfer(
+        ec_fsm_soe_t *fsm, /**< State machine. */
+        ec_slave_t *slave, /**< EtherCAT slave. */
+        ec_soe_request_t *request /**< SoE request. */
+        )
+{
+    fsm->slave = slave;
+    fsm->request = request;
+    if (request->dir == EC_DIR_OUTPUT) {
+        //fsm->state = ec_fsm_soe_write_start;
+	} else {
+        fsm->state = ec_fsm_soe_read_start;
+	}
+}
+
+/*****************************************************************************/
+
+/**
+   Executes the current state of the state machine.
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_soe_exec(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+    fsm->state(fsm);
+
+    return fsm->state != ec_fsm_soe_end && fsm->state != ec_fsm_soe_error;
+}
+
+/*****************************************************************************/
+
+/**
+   Returns, if the state machine terminated with success.
+   \return non-zero if successful.
+*/
+
+int ec_fsm_soe_success(ec_fsm_soe_t *fsm /**< Finite state machine */)
+{
+    return fsm->state == ec_fsm_soe_end;
+}
+
+/******************************************************************************
+ * SoE read state machine
+ *****************************************************************************/
+
+/** SoE state: READ START.
+ */
+void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_soe_request_t *request = fsm->request;
+    uint8_t *data;
+
+    if (master->debug_level)
+        EC_DBG("Reading IDN 0x%04X from slave %u.\n",
+               request->idn, slave->ring_position);
+
+    if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
+        EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);
+        fsm->state = ec_fsm_soe_error;
+        return;
+    }
+
+    data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
+			EC_SOE_READ_REQUEST_SIZE);
+    if (IS_ERR(data)) {
+        fsm->state = ec_fsm_soe_error;
+        return;
+    }
+
+    EC_WRITE_U8(data, EC_SOE_OPCODE_READ_REQUEST);
+    EC_WRITE_U8(data + 1, 1 << 6); // request value
+    EC_WRITE_U16(data + 2, request->idn);
+
+    if (master->debug_level) {
+        EC_DBG("SCC read request:\n");
+        ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);
+    }
+
+    fsm->request->jiffies_sent = jiffies;
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_soe_read_request;
+}
+
+/*****************************************************************************/
+
+/** SoE state: READ REQUEST.
+ */
+void ec_fsm_soe_read_request(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    unsigned long diff_ms;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return; // FIXME: check for response first?
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Failed to receive SoE read request for slave %u: ",
+               slave->ring_position);
+        ec_datagram_print_state(datagram);
+        return;
+    }
+
+    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+
+    if (datagram->working_counter != 1) {
+        if (!datagram->working_counter) {
+            if (diff_ms < EC_SOE_RESPONSE_TIMEOUT) {
+                // no response; send request datagram again
+                return;
+            }
+        }
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Reception of SoE read request for IDN 0x%04x failed"
+                " after %u ms on slave %u: ",
+                fsm->request->idn, (u32) diff_ms,
+                fsm->slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    fsm->jiffies_start = datagram->jiffies_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_soe_read_check;
+}
+
+/*****************************************************************************/
+
+/** CoE state: READ CHECK.
+ */
+void ec_fsm_soe_read_check(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Failed to receive SoE mailbox check datagram from slave %u: ",
+               slave->ring_position);
+        ec_datagram_print_state(datagram);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Reception of SoE mailbox check datagram failed on slave %u: ",
+				slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        unsigned long diff_ms =
+            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+        if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {
+            fsm->state = ec_fsm_soe_error;
+            EC_ERR("Timeout after %u ms while waiting for IDN 0x%04x"
+                    " read response on slave %u.\n", (u32) diff_ms,
+                    fsm->request->idn, slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    fsm->retries = EC_FSM_RETRIES;
+    fsm->state = ec_fsm_soe_read_response;
+}
+
+/*****************************************************************************/
+
+/** SoE state: READ RESPONSE.
+ */
+void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    uint8_t *data, mbox_prot, opcode, error_flag, value_included;
+    size_t rec_size, data_size;
+    ec_soe_request_t *req = fsm->request;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return; // FIXME: request again?
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Failed to receive SoE read response datagram for"
+               " slave %u: ", slave->ring_position);
+        ec_datagram_print_state(datagram);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Reception of SoE read response failed on slave %u: ",
+                slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+    if (IS_ERR(data)) {
+        fsm->state = ec_fsm_soe_error;
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("SCC read response:\n");
+        ec_print_data(data, rec_size);
+    }
+
+    if (mbox_prot != EC_MBOX_TYPE_SOE) {
+        fsm->state = ec_fsm_soe_error;
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        return;
+    }
+
+    if (rec_size < EC_SOE_READ_RESPONSE_SIZE) {
+        fsm->state = ec_fsm_soe_error;
+        EC_ERR("Received currupted SoE read response (%zu bytes)!\n",
+				rec_size);
+        ec_print_data(data, rec_size);
+        return;
+    }
+
+	opcode = EC_READ_U8(data) & 0x3;
+    if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {
+        EC_ERR("Received no read response (opcode %x).\n", opcode);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_soe_error;
+        return;
+    }
+
+	error_flag = (EC_READ_U8(data) >> 4) & 1;
+	if (error_flag) {
+		req->error_code = EC_READ_U16(data + rec_size - 2);
+		EC_ERR("Received error response: 0x%04x.\n",
+				req->error_code);
+        fsm->state = ec_fsm_soe_error;
+        return;
+	} else {
+		req->error_code = 0x0000;
+	}
+
+	value_included = (EC_READ_U8(data + 1) >> 6) & 1;
+	if (!value_included) {
+		EC_ERR("No value included!\n");
+		fsm->state = ec_fsm_soe_error;
+		return;
+	}
+
+	data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;
+	if (ec_soe_request_copy_data(req,
+				data + EC_SOE_READ_RESPONSE_SIZE, data_size)) {
+		fsm->state = ec_fsm_soe_error;
+		return;
+	}
+
+	if (master->debug_level) {
+		EC_DBG("IDN data:\n");
+		ec_print_data(req->data, req->data_size);
+	}
+
+    fsm->state = ec_fsm_soe_end; // success
+}
+
+/*****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_soe_error(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_soe_end(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/