--- a/master/Kbuild	Mon Oct 23 14:00:58 2006 +0000
+++ b/master/Kbuild	Tue Oct 24 08:00:24 2006 +0000
@@ -39,7 +39,7 @@
 
 ec_master-objs := module.o master.o device.o slave.o datagram.o \
 		domain.o mailbox.o canopen.o ethernet.o \
-                fsm_sii.o fsm_change.o fsm.o xmldev.o
+                fsm_sii.o fsm_change.o fsm_coe.o fsm.o xmldev.o
 
 ifeq ($(EC_DBG_IF),1)
 	ec_master-objs += debug.o

--- a/master/Makefile.am	Mon Oct 23 14:00:58 2006 +0000
+++ b/master/Makefile.am	Tue Oct 24 08:00:24 2006 +0000
@@ -42,6 +42,7 @@
 	ethernet.c ethernet.h \
 	fsm_sii.c fsm_sii.h \
 	fsm_change.c fsm_change.h \
+	fsm_coe.c fsm_coe.h \
 	fsm.c fsm.h \
 	globals.h \
 	mailbox.c mailbox.h \

--- a/master/fsm.c	Mon Oct 23 14:00:58 2006 +0000
+++ b/master/fsm.c	Tue Oct 24 08:00:24 2006 +0000
@@ -80,35 +80,9 @@
 void ec_fsm_slaveconf_saveop(ec_fsm_t *);
 void ec_fsm_slaveconf_op(ec_fsm_t *);
 
-void ec_fsm_coe_dict_start(ec_fsm_t *);
-void ec_fsm_coe_dict_request(ec_fsm_t *);
-void ec_fsm_coe_dict_check(ec_fsm_t *);
-void ec_fsm_coe_dict_response(ec_fsm_t *);
-void ec_fsm_coe_dict_desc_request(ec_fsm_t *);
-void ec_fsm_coe_dict_desc_check(ec_fsm_t *);
-void ec_fsm_coe_dict_desc_response(ec_fsm_t *);
-void ec_fsm_coe_dict_entry_request(ec_fsm_t *);
-void ec_fsm_coe_dict_entry_check(ec_fsm_t *);
-void ec_fsm_coe_dict_entry_response(ec_fsm_t *);
-
-void ec_fsm_coe_down_start(ec_fsm_t *);
-void ec_fsm_coe_down_request(ec_fsm_t *);
-void ec_fsm_coe_down_check(ec_fsm_t *);
-void ec_fsm_coe_down_response(ec_fsm_t *);
-
-void ec_fsm_coe_up_start(ec_fsm_t *);
-void ec_fsm_coe_up_request(ec_fsm_t *);
-void ec_fsm_coe_up_check(ec_fsm_t *);
-void ec_fsm_coe_up_response(ec_fsm_t *);
-void ec_fsm_coe_up_seg_request(ec_fsm_t *);
-void ec_fsm_coe_up_seg_check(ec_fsm_t *);
-void ec_fsm_coe_up_seg_response(ec_fsm_t *);
-
 void ec_fsm_end(ec_fsm_t *);
 void ec_fsm_error(ec_fsm_t *);
 
-void ec_canopen_abort_msg(uint32_t);
-
 /*****************************************************************************/
 
 /**
@@ -131,8 +105,10 @@
         return -1;
     }
 
+    // init sub-state-machines
     ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
     ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram);
+    ec_fsm_coe_init(&fsm->fsm_coe, &fsm->datagram);
 
     return 0;
 }
@@ -145,8 +121,10 @@
 
 void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
 {
+    // clear sub-state machines
     ec_fsm_sii_clear(&fsm->fsm_sii);
     ec_fsm_change_clear(&fsm->fsm_change);
+    ec_fsm_coe_clear(&fsm->fsm_coe);
 
     ec_datagram_clear(&fsm->datagram);
 }
@@ -600,9 +578,9 @@
         // start uploading SDO
         fsm->slave = slave;
         fsm->master_state = ec_fsm_master_sdo_request;
-        fsm->coe_request = request;
-        fsm->coe_state = ec_fsm_coe_up_start;
-        fsm->coe_state(fsm); // execute immediately
+        fsm->sdo_request = request;
+        ec_fsm_coe_upload(&fsm->fsm_coe, slave, request);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
         return;
     }
 
@@ -634,8 +612,8 @@
         // start fetching SDO dictionary
         fsm->slave = slave;
         fsm->master_state = ec_fsm_master_sdodict;
-        fsm->coe_state = ec_fsm_coe_dict_start;
-        fsm->coe_state(fsm); // execute immediately
+        ec_fsm_coe_dictionary(&fsm->fsm_coe, slave);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
         return;
     }
 
@@ -1020,16 +998,14 @@
     ec_slave_t *slave = fsm->slave;
     ec_master_t *master = fsm->master;
 
-    fsm->coe_state(fsm); // execute CoE state machine
-
-    if (fsm->coe_state == ec_fsm_error) {
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
         fsm->master_state = ec_fsm_master_start;
         fsm->master_state(fsm); // execute immediately
         return;
     }
 
-    if (fsm->coe_state != ec_fsm_end) return;
-
     // SDO dictionary fetching finished
 
     if (master->debug_level) {
@@ -1053,11 +1029,11 @@
 void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
 {
     ec_master_t *master = fsm->master;
-    ec_sdo_request_t *request = fsm->coe_request;
-
-    fsm->coe_state(fsm); // execute CoE state machine
-
-    if (fsm->coe_state == ec_fsm_error) {
+    ec_sdo_request_t *request = fsm->sdo_request;
+
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
         request->return_code = -1;
         wake_up_interruptible(&master->sdo_wait_queue);
         fsm->master_state = ec_fsm_master_start;
@@ -1065,8 +1041,6 @@
         return;
     }
 
-    if (fsm->coe_state != ec_fsm_end) return;
-
     // SDO dictionary fetching finished
 
     request->return_code = 1;
@@ -1569,9 +1543,9 @@
 
         // start SDO configuration
         fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-        fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
-        fsm->coe_state = ec_fsm_coe_down_start;
-        fsm->coe_state(fsm); // execute immediately
+        fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+        ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
         return;
     }
 
@@ -1619,9 +1593,9 @@
 
     // start SDO configuration
     fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-    fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
-    fsm->coe_state = ec_fsm_coe_down_start;
-    fsm->coe_state(fsm); // execute immediately
+    fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+    ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata);
+    ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
 }
 
 /*****************************************************************************/
@@ -1632,22 +1606,20 @@
 
 void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
 {
-    fsm->coe_state(fsm); // execute CoE state machine
-
-    if (fsm->coe_state == ec_fsm_error) {
+    if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
         fsm->slave->error_flag = 1;
         fsm->slave_state = ec_fsm_error;
         return;
     }
 
-    if (fsm->coe_state != ec_fsm_end) return;
-
     // Another SDO to configure?
-    if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
-        fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
-                                      ec_sdo_data_t, list);
-        fsm->coe_state = ec_fsm_coe_down_start;
-        fsm->coe_state(fsm); // execute immediately
+    if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) {
+        fsm->sdodata = list_entry(fsm->sdodata->list.next,
+                                  ec_sdo_data_t, list);
+        ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata);
+        ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
         return;
     }
 
@@ -1729,1257 +1701,6 @@
 }
 
 /******************************************************************************
- *  CoE dictionary state machine
- *****************************************************************************/
-
-/**
-   CoE state: DICT START.
-*/
-
-void ec_fsm_coe_dict_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    uint8_t *data;
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x8 << 12); // SDO information
-    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
-    EC_WRITE_U8 (data + 3, 0x00);
-    EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_request;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT REQUEST.
-*/
-
-void ec_fsm_coe_dict_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE dictionary request failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT CHECK.
-*/
-
-void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT RESPONSE.
-*/
-
-void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    uint8_t *data, mbox_prot;
-    size_t rec_size;
-    unsigned int sdo_count, i;
-    uint16_t sdo_index;
-    ec_sdo_t *sdo;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE dictionary response failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("SDO information error response at slave %i!\n",
-               slave->ring_position);
-        ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
-        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
-        EC_ERR("Invalid SDO list response at slave %i!\n",
-               slave->ring_position);
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 8) {
-        EC_ERR("Invalid data size!\n");
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    sdo_count = (rec_size - 8) / 2;
-
-    for (i = 0; i < sdo_count; i++) {
-        sdo_index = EC_READ_U16(data + 8 + i * 2);
-        if (!sdo_index) {
-            EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
-                    slave->ring_position);
-            continue;
-        }
-
-        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate memory for SDO!\n");
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        if (ec_sdo_init(sdo, sdo_index, slave)) {
-            EC_ERR("Failed to init SDO!\n");
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        if (kobject_add(&sdo->kobj)) {
-            EC_ERR("Failed to add kobject.\n");
-            kobject_put(&sdo->kobj); // free
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        list_add_tail(&sdo->list, &slave->sdo_dictionary);
-    }
-
-    if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
-        fsm->coe_start = datagram->cycles_sent;
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        fsm->coe_state = ec_fsm_coe_dict_check;
-        return;
-    }
-
-    if (list_empty(&slave->sdo_dictionary)) {
-        // no SDOs in dictionary. finished.
-        fsm->coe_state = ec_fsm_end; // success
-        return;
-    }
-
-    // fetch SDO descriptions
-    fsm->coe_sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x8 << 12); // SDO information
-    EC_WRITE_U8 (data + 2, 0x03); // Get object description request
-    EC_WRITE_U8 (data + 3, 0x00);
-    EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_desc_request;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT DESC REQUEST.
-*/
-
-void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE SDO description"
-               " request failed on slave %i.\n", slave->ring_position);
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_desc_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT DESC CHECK.
-*/
-
-void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO description on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_desc_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT DESC RESPONSE.
-*/
-
-void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    ec_sdo_t *sdo = fsm->coe_sdo;
-    uint8_t *data, mbox_prot;
-    size_t rec_size, name_size;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE SDO description"
-               "response failed on slave %i.\n", slave->ring_position);
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("SDO information error response at slave %i while"
-               " fetching SDO 0x%04X!\n", slave->ring_position,
-               sdo->index);
-        ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
-        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
-        EC_READ_U16(data + 6) != sdo->index) { // SDO index
-        EC_ERR("Invalid object description response at slave %i while"
-               " fetching SDO 0x%04X!\n", slave->ring_position,
-               sdo->index);
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 12) {
-        EC_ERR("Invalid data size!\n");
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    sdo->subindices = EC_READ_U8(data + 10);
-    sdo->object_code = EC_READ_U8(data + 11);
-
-    name_size = rec_size - 12;
-    if (name_size) {
-        if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate SDO name!\n");
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        memcpy(sdo->name, data + 12, name_size);
-        sdo->name[name_size] = 0;
-    }
-
-    if (EC_READ_U8(data + 2) & 0x80) {
-        EC_ERR("Fragment follows (not implemented)!\n");
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    // start fetching entries
-
-    fsm->coe_subindex = 0;
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x8 << 12); // SDO information
-    EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
-    EC_WRITE_U8 (data + 3, 0x00);
-    EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, sdo->index); // SDO index
-    EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
-    EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_entry_request;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT ENTRY REQUEST.
-*/
-
-void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_entry_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT ENTRY CHECK.
-*/
-
-void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
-               slave->ring_position);
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO entry on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_dict_entry_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DICT ENTRY RESPONSE.
-*/
-
-void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    ec_sdo_t *sdo = fsm->coe_sdo;
-    uint8_t *data, mbox_prot;
-    size_t rec_size, data_size;
-    ec_sdo_entry_t *entry;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE SDO description"
-               " response failed on slave %i.\n", slave->ring_position);
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("SDO information error response at slave %i while"
-               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
-               sdo->index, fsm->coe_subindex);
-        ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
-        (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
-        EC_READ_U16(data + 6) != sdo->index || // SDO index
-        EC_READ_U8(data + 8) != fsm->coe_subindex) { // SDO subindex
-        EC_ERR("Invalid entry description response at slave %i while"
-               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
-               sdo->index, fsm->coe_subindex);
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 16) {
-        EC_ERR("Invalid data size!\n");
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    data_size = rec_size - 16;
-
-    if (!(entry = (ec_sdo_entry_t *)
-          kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
-        EC_ERR("Failed to allocate entry!\n");
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (ec_sdo_entry_init(entry, fsm->coe_subindex, sdo)) {
-        EC_ERR("Failed to init entry!\n");
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    entry->data_type = EC_READ_U16(data + 10);
-    entry->bit_length = EC_READ_U16(data + 12);
-
-    if (data_size) {
-        if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate SDO entry name!\n");
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-        memcpy(entry->description, data + 16, data_size);
-        entry->description[data_size] = 0;
-    }
-
-    if (kobject_add(&entry->kobj)) {
-        EC_ERR("Failed to add kobject.\n");
-        kobject_put(&entry->kobj); // free
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    list_add_tail(&entry->list, &sdo->entries);
-
-    if (fsm->coe_subindex < sdo->subindices) {
-        fsm->coe_subindex++;
-
-        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        EC_WRITE_U16(data, 0x8 << 12); // SDO information
-        EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
-        EC_WRITE_U8 (data + 3, 0x00);
-        EC_WRITE_U16(data + 4, 0x0000);
-        EC_WRITE_U16(data + 6, sdo->index); // SDO index
-        EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
-        EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
-
-        ec_master_queue_datagram(fsm->master, datagram);
-        fsm->coe_state = ec_fsm_coe_dict_entry_request;
-        return;
-    }
-
-    // another SDO description to fetch?
-    if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) {
-        fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list);
-
-        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        EC_WRITE_U16(data, 0x8 << 12); // SDO information
-        EC_WRITE_U8 (data + 2, 0x03); // Get object description request
-        EC_WRITE_U8 (data + 3, 0x00);
-        EC_WRITE_U16(data + 4, 0x0000);
-        EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
-
-        ec_master_queue_datagram(fsm->master, datagram);
-        fsm->coe_state = ec_fsm_coe_dict_desc_request;
-        return;
-    }
-
-    fsm->coe_state = ec_fsm_end;
-}
-
-/******************************************************************************
- *  CoE state machine
- *****************************************************************************/
-
-/**
-   CoE state: DOWN START.
-*/
-
-void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    ec_sdo_data_t *sdodata = fsm->coe_sdodata;
-    uint8_t *data;
-
-    EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
-            sdodata->index, sdodata->subindex, slave->ring_position);
-
-    if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
-        EC_ERR("SDO fragmenting not supported yet!\n");
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
-                                            sdodata->size + 10))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x2 << 12); // SDO request
-    EC_WRITE_U8 (data + 2, (0x1 // size specified
-                            | 0x1 << 5)); // Download request
-    EC_WRITE_U16(data + 3, sdodata->index);
-    EC_WRITE_U8 (data + 5, sdodata->subindex);
-    EC_WRITE_U32(data + 6, sdodata->size);
-    memcpy(data + 10, sdodata->data, sdodata->size);
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_down_request;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DOWN REQUEST.
-*/
-
-void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE download request failed.\n");
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_down_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DOWN CHECK.
-*/
-
-void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_down_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: DOWN RESPONSE.
-*/
-
-void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    uint8_t *data, mbox_prot;
-    size_t rec_size;
-    ec_sdo_data_t *sdodata = fsm->coe_sdodata;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE download response failed.\n");
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 6) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Received data is too small (%i bytes):\n", rec_size);
-        ec_print_data(data, rec_size);
-        return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
-               sdodata->index, sdodata->subindex, sdodata->size,
-               slave->ring_position);
-        if (rec_size < 10) {
-            EC_ERR("Incomplete Abort command:\n");
-            ec_print_data(data, rec_size);
-        }
-        else
-            ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
-        EC_READ_U16(data + 3) != sdodata->index || // index
-        EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
-               sdodata->index, sdodata->subindex, sdodata->size);
-        EC_ERR("Invalid SDO download response at slave %i!\n",
-               slave->ring_position);
-        ec_print_data(data, rec_size);
-        return;
-    }
-
-    fsm->coe_state = ec_fsm_end; // success
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP START.
-*/
-
-void ec_fsm_coe_up_start(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-    ec_master_t *master = slave->master;
-    ec_sdo_request_t *request = fsm->coe_request;
-    ec_sdo_t *sdo = request->sdo;
-    ec_sdo_entry_t *entry = request->entry;
-    uint8_t *data;
-
-    EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
-            sdo->index, entry->subindex, slave->ring_position);
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x2 << 12); // SDO request
-    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
-    EC_WRITE_U16(data + 3, sdo->index);
-    EC_WRITE_U8 (data + 5, entry->subindex);
-
-    if (master->debug_level) {
-        EC_DBG("Upload request:\n");
-        ec_print_data(data, 6);
-    }
-
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_up_request;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP REQUEST.
-*/
-
-void ec_fsm_coe_up_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE upload request failed.\n");
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_up_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP CHECK.
-*/
-
-void ec_fsm_coe_up_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO upload on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_up_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP RESPONSE.
-*/
-
-void ec_fsm_coe_up_response(ec_fsm_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;
-    size_t rec_size, data_size;
-    ec_sdo_request_t *request = fsm->coe_request;
-    ec_sdo_t *sdo = request->sdo;
-    ec_sdo_entry_t *entry = request->entry;
-    uint32_t complete_size;
-    unsigned int expedited, size_specified;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE upload response failed.\n");
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (master->debug_level) {
-        EC_DBG("Upload response:\n");
-        ec_print_data(data, rec_size);
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 10) {
-        EC_ERR("Received currupted SDO upload response!\n");
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
-               sdo->index, entry->subindex, slave->ring_position);
-        ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-        EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
-        EC_READ_U16(data + 3) != sdo->index || // index
-        EC_READ_U8 (data + 5) != entry->subindex) { // subindex
-        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
-        EC_ERR("Invalid SDO upload response at slave %i!\n",
-               slave->ring_position);
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    data_size = rec_size - 10;
-    expedited = EC_READ_U8(data + 2) & 0x02;
-
-    if (expedited) {
-        EC_WARN("Received expedited response upon normal request!\n");
-
-        size_specified = EC_READ_U8(data + 2) & 0x01;
-        if (size_specified) {
-            complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
-        }
-        else {
-            complete_size = 4;
-        }
-    }
-    else {
-        complete_size = EC_READ_U32(data + 6);
-    }
-
-    if (request->data) {
-        kfree(request->data);
-        request->data = NULL;
-    }
-    request->size = 0;
-
-    if (complete_size) {
-        if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
-            EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-        request->data[complete_size] = 0x00; // just to be sure...
-    }
-
-    if (expedited) {
-        memcpy(request->data, data + 6, complete_size);
-        request->size = complete_size;
-    }
-    else {
-        memcpy(request->data, data + 10, data_size);
-        request->size = data_size;
-        fsm->coe_toggle = 0;
-
-        if (data_size < complete_size) {
-            EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
-
-            if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
-                fsm->coe_state = ec_fsm_error;
-                return;
-            }
-
-            EC_WRITE_U16(data, 0x2 << 12); // SDO request
-            EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
-                                    | 0x3 << 5)); // upload segment request
-
-            if (master->debug_level) {
-                EC_DBG("Upload segment request:\n");
-                ec_print_data(data, 3);
-            }
-
-            ec_master_queue_datagram(fsm->master, datagram);
-            fsm->coe_state = ec_fsm_coe_up_seg_request;
-            return;
-        }
-    }
-
-    fsm->coe_state = ec_fsm_end; // success
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP REQUEST.
-*/
-
-void ec_fsm_coe_up_seg_request(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE upload segment request failed.\n");
-        return;
-    }
-
-    fsm->coe_start = datagram->cycles_sent;
-
-    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_up_seg_check;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP CHECK.
-*/
-
-void ec_fsm_coe_up_seg_check(ec_fsm_t *fsm /**< finite state machine */)
-{
-    ec_datagram_t *datagram = &fsm->datagram;
-    ec_slave_t *slave = fsm->slave;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
-        return;
-    }
-
-    if (!ec_slave_mbox_check(datagram)) {
-        if (datagram->cycles_received
-            - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
-            fsm->coe_state = ec_fsm_error;
-            EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
-                   slave->ring_position);
-            return;
-        }
-
-        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
-        ec_master_queue_datagram(fsm->master, datagram);
-        return;
-    }
-
-    // Fetch response
-    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
-    ec_master_queue_datagram(fsm->master, datagram);
-    fsm->coe_state = ec_fsm_coe_up_seg_response;
-}
-
-/*****************************************************************************/
-
-/**
-   CoE state: UP RESPONSE.
-*/
-
-void ec_fsm_coe_up_seg_response(ec_fsm_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;
-    size_t rec_size, data_size;
-    ec_sdo_request_t *request = fsm->coe_request;
-    ec_sdo_t *sdo = request->sdo;
-    ec_sdo_entry_t *entry = request->entry;
-    uint32_t seg_size;
-    unsigned int last_segment;
-
-    if (datagram->state != EC_DATAGRAM_RECEIVED
-        || datagram->working_counter != 1) {
-        fsm->coe_state = ec_fsm_error;
-        EC_ERR("Reception of CoE upload segment response failed.\n");
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_fetch(slave, datagram,
-				     &mbox_prot, &rec_size))) {
-        fsm->coe_state = ec_fsm_error;
-        return;
-    }
-
-    if (master->debug_level) {
-        EC_DBG("Upload segment response:\n");
-        ec_print_data(data, rec_size);
-    }
-
-    if (mbox_prot != 0x03) { // CoE
-        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (rec_size < 10) {
-        EC_ERR("Received currupted SDO upload segment response!\n");
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
-               sdo->index, entry->subindex, slave->ring_position);
-        ec_canopen_abort_msg(EC_READ_U32(data + 6));
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
-        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
-        EC_ERR("Invalid SDO upload segment response at slave %i!\n",
-               slave->ring_position);
-        ec_print_data(data, rec_size);
-        fsm->coe_state = ec_fsm_error;
-	return;
-    }
-
-    last_segment = EC_READ_U8(data + 2) & 0x01;
-    seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
-    data_size = rec_size - 10;
-
-    if (data_size != seg_size) {
-        EC_WARN("SDO segment data invalid (%i / %i)"
-                " - Fragmenting not implemented.\n",
-                data_size, seg_size);
-    }
-
-    memcpy(request->data + request->size, data + 10, data_size);
-    request->size += data_size;
-
-    if (!last_segment) {
-        fsm->coe_toggle = !fsm->coe_toggle;
-
-        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
-            fsm->coe_state = ec_fsm_error;
-            return;
-        }
-
-        EC_WRITE_U16(data, 0x2 << 12); // SDO request
-        EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
-                                | 0x3 << 5)); // upload segment request
-
-        if (master->debug_level) {
-            EC_DBG("Upload segment request:\n");
-            ec_print_data(data, 3);
-        }
-
-        ec_master_queue_datagram(fsm->master, datagram);
-        fsm->coe_state = ec_fsm_coe_up_seg_request;
-        return;
-    }
-
-    fsm->coe_state = ec_fsm_end; // success
-}
-
-/*****************************************************************************/
-
-/**
-   SDO abort messages.
-   The "abort SDO transfer request" supplies an abort code,
-   which can be translated to clear text. This table does
-   the mapping of the codes and messages.
-*/
-
-const ec_code_msg_t sdo_abort_messages[] = {
-    {0x05030000, "Toggle bit not changed"},
-    {0x05040000, "SDO protocol timeout"},
-    {0x05040001, "Client/Server command specifier not valid or unknown"},
-    {0x05040005, "Out of memory"},
-    {0x06010000, "Unsupported access to an object"},
-    {0x06010001, "Attempt to read a write-only object"},
-    {0x06010002, "Attempt to write a read-only object"},
-    {0x06020000, "This object does not exist in the object directory"},
-    {0x06040041, "The object cannot be mapped into the PDO"},
-    {0x06040042, "The number and length of the objects to be mapped would"
-     " exceed the PDO length"},
-    {0x06040043, "General parameter incompatibility reason"},
-    {0x06040047, "Gerneral internal incompatibility in device"},
-    {0x06060000, "Access failure due to a hardware error"},
-    {0x06070010, "Data type does not match, length of service parameter does"
-     " not match"},
-    {0x06070012, "Data type does not match, length of service parameter too"
-     " high"},
-    {0x06070013, "Data type does not match, length of service parameter too"
-     " low"},
-    {0x06090011, "Subindex does not exist"},
-    {0x06090030, "Value range of parameter exceeded"},
-    {0x06090031, "Value of parameter written too high"},
-    {0x06090032, "Value of parameter written too low"},
-    {0x06090036, "Maximum value is less than minimum value"},
-    {0x08000000, "General error"},
-    {0x08000020, "Data cannot be transferred or stored to the application"},
-    {0x08000021, "Data cannot be transferred or stored to the application"
-     " because of local control"},
-    {0x08000022, "Data cannot be transferred or stored to the application"
-     " because of the present device state"},
-    {0x08000023, "Object dictionary dynamic generation fails or no object"
-     " dictionary is present"},
-    {}
-};
-
-/*****************************************************************************/
-
-/**
-   Outputs an SDO abort message.
-*/
-
-void ec_canopen_abort_msg(uint32_t abort_code)
-{
-    const ec_code_msg_t *abort_msg;
-
-    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
-        if (abort_msg->code == abort_code) {
-            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
-                   abort_msg->code, abort_msg->message);
-            return;
-        }
-    }
-
-    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
-}
-
-/******************************************************************************
  *  Common state functions
  *****************************************************************************/
 

--- a/master/fsm.h	Mon Oct 23 14:00:58 2006 +0000
+++ b/master/fsm.h	Tue Oct 24 08:00:24 2006 +0000
@@ -49,6 +49,7 @@
 
 #include "fsm_sii.h"
 #include "fsm_change.h"
+#include "fsm_coe.h"
 
 /*****************************************************************************/
 
@@ -69,19 +70,14 @@
     ec_slave_state_t master_slave_states; /**< states of responding slaves */
     unsigned int master_validation; /**< non-zero, if validation to do */
     uint16_t sii_offset; /**< current offset for SII access */
+    ec_sdo_request_t *sdo_request;
 
     void (*slave_state)(ec_fsm_t *); /**< slave state function */
+    ec_sdo_data_t *sdodata; /**< SDO configuration data */
 
     ec_fsm_sii_t fsm_sii; /**< SII state machine */
     ec_fsm_change_t fsm_change; /**< State change state machine */
-
-    void (*coe_state)(ec_fsm_t *); /**< CoE state function */
-    ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */
-    cycles_t coe_start; /**< CoE timestamp */
-    ec_sdo_t *coe_sdo; /**< current SDO */
-    uint8_t coe_subindex; /**< current subindex */
-    ec_sdo_request_t *coe_request; /**< SDO request */
-    uint8_t coe_toggle; /**< toggle bit for segment commands */
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
 };
 
 /*****************************************************************************/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe.c	Tue Oct 24 08:00:24 2006 +0000
@@ -0,0 +1,1446 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  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
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  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 right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT CoE state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_down_start(ec_fsm_coe_t *);
+void ec_fsm_coe_down_request(ec_fsm_coe_t *);
+void ec_fsm_coe_down_check(ec_fsm_coe_t *);
+void ec_fsm_coe_down_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_up_start(ec_fsm_coe_t *);
+void ec_fsm_coe_up_request(ec_fsm_coe_t *);
+void ec_fsm_coe_up_check(ec_fsm_coe_t *);
+void ec_fsm_coe_up_response(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_end(ec_fsm_coe_t *);
+void ec_fsm_coe_error(ec_fsm_coe_t *);
+
+/*****************************************************************************/
+
+/**
+   SDO abort messages.
+   The "abort SDO transfer request" supplies an abort code,
+   which can be translated to clear text. This table does
+   the mapping of the codes and messages.
+*/
+
+const ec_code_msg_t sdo_abort_messages[] = {
+    {0x05030000, "Toggle bit not changed"},
+    {0x05040000, "SDO protocol timeout"},
+    {0x05040001, "Client/Server command specifier not valid or unknown"},
+    {0x05040005, "Out of memory"},
+    {0x06010000, "Unsupported access to an object"},
+    {0x06010001, "Attempt to read a write-only object"},
+    {0x06010002, "Attempt to write a read-only object"},
+    {0x06020000, "This object does not exist in the object directory"},
+    {0x06040041, "The object cannot be mapped into the PDO"},
+    {0x06040042, "The number and length of the objects to be mapped would"
+     " exceed the PDO length"},
+    {0x06040043, "General parameter incompatibility reason"},
+    {0x06040047, "Gerneral internal incompatibility in device"},
+    {0x06060000, "Access failure due to a hardware error"},
+    {0x06070010, "Data type does not match, length of service parameter does"
+     " not match"},
+    {0x06070012, "Data type does not match, length of service parameter too"
+     " high"},
+    {0x06070013, "Data type does not match, length of service parameter too"
+     " low"},
+    {0x06090011, "Subindex does not exist"},
+    {0x06090030, "Value range of parameter exceeded"},
+    {0x06090031, "Value of parameter written too high"},
+    {0x06090032, "Value of parameter written too low"},
+    {0x06090036, "Maximum value is less than minimum value"},
+    {0x08000000, "General error"},
+    {0x08000020, "Data cannot be transferred or stored to the application"},
+    {0x08000021, "Data cannot be transferred or stored to the application"
+     " because of local control"},
+    {0x08000022, "Data cannot be transferred or stored to the application"
+     " because of the present device state"},
+    {0x08000023, "Object dictionary dynamic generation fails or no object"
+     " dictionary is present"},
+    {}
+};
+
+/*****************************************************************************/
+
+/**
+   Outputs an SDO abort message.
+*/
+
+void ec_canopen_abort_msg(uint32_t abort_code)
+{
+    const ec_code_msg_t *abort_msg;
+
+    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
+        if (abort_msg->code == abort_code) {
+            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+                   abort_msg->code, abort_msg->message);
+            return;
+        }
+    }
+
+    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+}
+
+/*****************************************************************************/
+
+/**
+   Constructor.
+*/
+
+void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
+                     ec_datagram_t *datagram /**< datagram */
+                     )
+{
+    fsm->state = NULL;
+    fsm->datagram = datagram;
+}
+
+/*****************************************************************************/
+
+/**
+   Destructor.
+*/
+
+void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   Starts reading a slaves' SDO dictionary.
+*/
+
+void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
+                           ec_slave_t *slave /**< EtherCAT slave */
+                           )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_coe_dict_start;
+}
+
+/*****************************************************************************/
+
+/**
+   Starts to download an SDO to a slave.
+*/
+
+void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
+                         ec_slave_t *slave, /**< EtherCAT slave */
+                         ec_sdo_data_t *sdodata /**< SDO data object */
+                         )
+{
+    fsm->slave = slave;
+    fsm->sdodata = sdodata;
+    fsm->state = ec_fsm_coe_down_start;
+}
+
+/*****************************************************************************/
+
+/**
+   Starts to upload an SDO from a slave.
+*/
+
+void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */
+                       ec_slave_t *slave, /**< EtherCAT slave */
+                       ec_sdo_request_t *request /**< SDO request */
+                       )
+{
+    fsm->slave = slave;
+    fsm->request = request;
+    fsm->state = ec_fsm_coe_up_start;
+}
+
+/*****************************************************************************/
+
+/**
+   Executes the current state of the state machine.
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    fsm->state(fsm);
+
+    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
+}
+
+/*****************************************************************************/
+
+/**
+   Returns, if the state machine terminated with success.
+   \return non-zero if successful.
+*/
+
+int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
+{
+    return fsm->state == ec_fsm_coe_end;
+}
+
+/******************************************************************************
+ *  CoE dictionary state machine
+ *****************************************************************************/
+
+/**
+   CoE state: DICT START.
+*/
+
+void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    uint8_t *data;
+
+    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
+    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
+    EC_WRITE_U8 (data + 3, 0x00);
+    EC_WRITE_U16(data + 4, 0x0000);
+    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_request;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT REQUEST.
+*/
+
+void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE dictionary request failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT CHECK.
+*/
+
+void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT RESPONSE.
+*/
+
+void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    uint8_t *data, mbox_prot;
+    size_t rec_size;
+    unsigned int sdo_count, i;
+    uint16_t sdo_index;
+    ec_sdo_t *sdo;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE dictionary response failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
+        EC_ERR("SDO information error response at slave %i!\n",
+               slave->ring_position);
+        ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
+        EC_ERR("Invalid SDO list response at slave %i!\n",
+               slave->ring_position);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 8) {
+        EC_ERR("Invalid data size!\n");
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    sdo_count = (rec_size - 8) / 2;
+
+    for (i = 0; i < sdo_count; i++) {
+        sdo_index = EC_READ_U16(data + 8 + i * 2);
+        if (!sdo_index) {
+            EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
+                    slave->ring_position);
+            continue;
+        }
+
+        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
+            EC_ERR("Failed to allocate memory for SDO!\n");
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        if (ec_sdo_init(sdo, sdo_index, slave)) {
+            EC_ERR("Failed to init SDO!\n");
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        if (kobject_add(&sdo->kobj)) {
+            EC_ERR("Failed to add kobject.\n");
+            kobject_put(&sdo->kobj); // free
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        list_add_tail(&sdo->list, &slave->sdo_dictionary);
+    }
+
+    if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
+        fsm->cycles_start = datagram->cycles_sent;
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        fsm->state = ec_fsm_coe_dict_check;
+        return;
+    }
+
+    if (list_empty(&slave->sdo_dictionary)) {
+        // no SDOs in dictionary. finished.
+        fsm->state = ec_fsm_coe_end; // success
+        return;
+    }
+
+    // fetch SDO descriptions
+    fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
+
+    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
+    EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+    EC_WRITE_U8 (data + 3, 0x00);
+    EC_WRITE_U16(data + 4, 0x0000);
+    EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_desc_request;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT DESC REQUEST.
+*/
+
+void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE SDO description"
+               " request failed on slave %i.\n", slave->ring_position);
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_desc_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT DESC CHECK.
+*/
+
+void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO description on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_desc_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT DESC RESPONSE.
+*/
+
+void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
+                                   /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_sdo_t *sdo = fsm->sdo;
+    uint8_t *data, mbox_prot;
+    size_t rec_size, name_size;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE SDO description"
+               "response failed on slave %i.\n", slave->ring_position);
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
+        EC_ERR("SDO information error response at slave %i while"
+               " fetching SDO 0x%04X!\n", slave->ring_position,
+               sdo->index);
+        ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
+        EC_READ_U16(data + 6) != sdo->index) { // SDO index
+        EC_ERR("Invalid object description response at slave %i while"
+               " fetching SDO 0x%04X!\n", slave->ring_position,
+               sdo->index);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 12) {
+        EC_ERR("Invalid data size!\n");
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    sdo->subindices = EC_READ_U8(data + 10);
+    sdo->object_code = EC_READ_U8(data + 11);
+
+    name_size = rec_size - 12;
+    if (name_size) {
+        if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
+            EC_ERR("Failed to allocate SDO name!\n");
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        memcpy(sdo->name, data + 12, name_size);
+        sdo->name[name_size] = 0;
+    }
+
+    if (EC_READ_U8(data + 2) & 0x80) {
+        EC_ERR("Fragment follows (not implemented)!\n");
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    // start fetching entries
+
+    fsm->subindex = 0;
+
+    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
+    EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
+    EC_WRITE_U8 (data + 3, 0x00);
+    EC_WRITE_U16(data + 4, 0x0000);
+    EC_WRITE_U16(data + 6, sdo->index); // SDO index
+    EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
+    EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_entry_request;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT ENTRY REQUEST.
+*/
+
+void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
+                                   /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_entry_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT ENTRY CHECK.
+*/
+
+void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
+                                 /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+               slave->ring_position);
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO entry on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_dict_entry_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DICT ENTRY RESPONSE.
+*/
+
+void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
+                                    /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_sdo_t *sdo = fsm->sdo;
+    uint8_t *data, mbox_prot;
+    size_t rec_size, data_size;
+    ec_sdo_entry_t *entry;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE SDO description"
+               " response failed on slave %i.\n", slave->ring_position);
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
+        EC_ERR("SDO information error response at slave %i while"
+               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+               sdo->index, fsm->subindex);
+        ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+        (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
+        EC_READ_U16(data + 6) != sdo->index || // SDO index
+        EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
+        EC_ERR("Invalid entry description response at slave %i while"
+               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+               sdo->index, fsm->subindex);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 16) {
+        EC_ERR("Invalid data size!\n");
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    data_size = rec_size - 16;
+
+    if (!(entry = (ec_sdo_entry_t *)
+          kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
+        EC_ERR("Failed to allocate entry!\n");
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
+        EC_ERR("Failed to init entry!\n");
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    entry->data_type = EC_READ_U16(data + 10);
+    entry->bit_length = EC_READ_U16(data + 12);
+
+    if (data_size) {
+        if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) {
+            EC_ERR("Failed to allocate SDO entry name!\n");
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+        memcpy(entry->description, data + 16, data_size);
+        entry->description[data_size] = 0;
+    }
+
+    if (kobject_add(&entry->kobj)) {
+        EC_ERR("Failed to add kobject.\n");
+        kobject_put(&entry->kobj); // free
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    list_add_tail(&entry->list, &sdo->entries);
+
+    if (fsm->subindex < sdo->subindices) {
+        fsm->subindex++;
+
+        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        EC_WRITE_U16(data, 0x8 << 12); // SDO information
+        EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
+        EC_WRITE_U8 (data + 3, 0x00);
+        EC_WRITE_U16(data + 4, 0x0000);
+        EC_WRITE_U16(data + 6, sdo->index); // SDO index
+        EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
+        EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        fsm->state = ec_fsm_coe_dict_entry_request;
+        return;
+    }
+
+    // another SDO description to fetch?
+    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
+        fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
+
+        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        EC_WRITE_U16(data, 0x8 << 12); // SDO information
+        EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+        EC_WRITE_U8 (data + 3, 0x00);
+        EC_WRITE_U16(data + 4, 0x0000);
+        EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
+
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        fsm->state = ec_fsm_coe_dict_desc_request;
+        return;
+    }
+
+    fsm->state = ec_fsm_coe_end;
+}
+
+/******************************************************************************
+ *  CoE state machine
+ *****************************************************************************/
+
+/**
+   CoE state: DOWN START.
+*/
+
+void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_sdo_data_t *sdodata = fsm->sdodata;
+    uint8_t *data;
+
+    EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
+            sdodata->index, sdodata->subindex, slave->ring_position);
+
+    if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
+        EC_ERR("SDO fragmenting not supported yet!\n");
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+                                            sdodata->size + 10))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    EC_WRITE_U16(data, 0x2 << 12); // SDO request
+    EC_WRITE_U8 (data + 2, (0x1 // size specified
+                            | 0x1 << 5)); // Download request
+    EC_WRITE_U16(data + 3, sdodata->index);
+    EC_WRITE_U8 (data + 5, sdodata->subindex);
+    EC_WRITE_U32(data + 6, sdodata->size);
+    memcpy(data + 10, sdodata->data, sdodata->size);
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_down_request;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DOWN REQUEST.
+*/
+
+void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE download request failed.\n");
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_down_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DOWN CHECK.
+*/
+
+void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_down_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: DOWN RESPONSE.
+*/
+
+void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    uint8_t *data, mbox_prot;
+    size_t rec_size;
+    ec_sdo_data_t *sdodata = fsm->sdodata;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE download response failed.\n");
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 6) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Received data is too small (%i bytes):\n", rec_size);
+        ec_print_data(data, rec_size);
+        return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
+               sdodata->index, sdodata->subindex, sdodata->size,
+               slave->ring_position);
+        if (rec_size < 10) {
+            EC_ERR("Incomplete Abort command:\n");
+            ec_print_data(data, rec_size);
+        }
+        else
+            ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
+        EC_READ_U16(data + 3) != sdodata->index || // index
+        EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
+               sdodata->index, sdodata->subindex, sdodata->size);
+        EC_ERR("Invalid SDO download response at slave %i!\n",
+               slave->ring_position);
+        ec_print_data(data, rec_size);
+        return;
+    }
+
+    fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP START.
+*/
+
+void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_master_t *master = slave->master;
+    ec_sdo_request_t *request = fsm->request;
+    ec_sdo_t *sdo = request->sdo;
+    ec_sdo_entry_t *entry = request->entry;
+    uint8_t *data;
+
+    EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
+            sdo->index, entry->subindex, slave->ring_position);
+
+    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    EC_WRITE_U16(data, 0x2 << 12); // SDO request
+    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
+    EC_WRITE_U16(data + 3, sdo->index);
+    EC_WRITE_U8 (data + 5, entry->subindex);
+
+    if (master->debug_level) {
+        EC_DBG("Upload request:\n");
+        ec_print_data(data, 6);
+    }
+
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_up_request;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE upload request failed.\n");
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_up_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO upload on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_up_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_response(ec_fsm_coe_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;
+    size_t rec_size, data_size;
+    ec_sdo_request_t *request = fsm->request;
+    ec_sdo_t *sdo = request->sdo;
+    ec_sdo_entry_t *entry = request->entry;
+    uint32_t complete_size;
+    unsigned int expedited, size_specified;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE upload response failed.\n");
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("Upload response:\n");
+        ec_print_data(data, rec_size);
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 10) {
+        EC_ERR("Received currupted SDO upload response!\n");
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+               sdo->index, entry->subindex, slave->ring_position);
+        ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+        EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
+        EC_READ_U16(data + 3) != sdo->index || // index
+        EC_READ_U8 (data + 5) != entry->subindex) { // subindex
+        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+        EC_ERR("Invalid SDO upload response at slave %i!\n",
+               slave->ring_position);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    data_size = rec_size - 10;
+    expedited = EC_READ_U8(data + 2) & 0x02;
+
+    if (expedited) {
+        EC_WARN("Received expedited response upon normal request!\n");
+
+        size_specified = EC_READ_U8(data + 2) & 0x01;
+        if (size_specified) {
+            complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
+        }
+        else {
+            complete_size = 4;
+        }
+    }
+    else {
+        complete_size = EC_READ_U32(data + 6);
+    }
+
+    if (request->data) {
+        kfree(request->data);
+        request->data = NULL;
+    }
+    request->size = 0;
+
+    if (complete_size) {
+        if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
+            EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+        request->data[complete_size] = 0x00; // just to be sure...
+    }
+
+    if (expedited) {
+        memcpy(request->data, data + 6, complete_size);
+        request->size = complete_size;
+    }
+    else {
+        memcpy(request->data, data + 10, data_size);
+        request->size = data_size;
+        fsm->toggle = 0;
+
+        if (data_size < complete_size) {
+            EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
+
+            if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+                fsm->state = ec_fsm_coe_error;
+                return;
+            }
+
+            EC_WRITE_U16(data, 0x2 << 12); // SDO request
+            EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
+                                    | 0x3 << 5)); // upload segment request
+
+            if (master->debug_level) {
+                EC_DBG("Upload segment request:\n");
+                ec_print_data(data, 3);
+            }
+
+            ec_master_queue_datagram(fsm->slave->master, datagram);
+            fsm->state = ec_fsm_coe_up_seg_request;
+            return;
+        }
+    }
+
+    fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE upload segment request failed.\n");
+        return;
+    }
+
+    fsm->cycles_start = datagram->cycles_sent;
+
+    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_up_seg_check;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+        return;
+    }
+
+    if (!ec_slave_mbox_check(datagram)) {
+        if (datagram->cycles_received
+            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
+            fsm->state = ec_fsm_coe_error;
+            EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
+                   slave->ring_position);
+            return;
+        }
+
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        return;
+    }
+
+    // Fetch response
+    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+    ec_master_queue_datagram(fsm->slave->master, datagram);
+    fsm->state = ec_fsm_coe_up_seg_response;
+}
+
+/*****************************************************************************/
+
+/**
+   CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_seg_response(ec_fsm_coe_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;
+    size_t rec_size, data_size;
+    ec_sdo_request_t *request = fsm->request;
+    ec_sdo_t *sdo = request->sdo;
+    ec_sdo_entry_t *entry = request->entry;
+    uint32_t seg_size;
+    unsigned int last_segment;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED
+        || datagram->working_counter != 1) {
+        fsm->state = ec_fsm_coe_error;
+        EC_ERR("Reception of CoE upload segment response failed.\n");
+        return;
+    }
+
+    if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+        fsm->state = ec_fsm_coe_error;
+        return;
+    }
+
+    if (master->debug_level) {
+        EC_DBG("Upload segment response:\n");
+        ec_print_data(data, rec_size);
+    }
+
+    if (mbox_prot != 0x03) { // CoE
+        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (rec_size < 10) {
+        EC_ERR("Received currupted SDO upload segment response!\n");
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+               sdo->index, entry->subindex, slave->ring_position);
+        ec_canopen_abort_msg(EC_READ_U32(data + 6));
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
+        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+        EC_ERR("Invalid SDO upload segment response at slave %i!\n",
+               slave->ring_position);
+        ec_print_data(data, rec_size);
+        fsm->state = ec_fsm_coe_error;
+	return;
+    }
+
+    last_segment = EC_READ_U8(data + 2) & 0x01;
+    seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
+    data_size = rec_size - 10;
+
+    if (data_size != seg_size) {
+        EC_WARN("SDO segment data invalid (%i / %i)"
+                " - Fragmenting not implemented.\n",
+                data_size, seg_size);
+    }
+
+    memcpy(request->data + request->size, data + 10, data_size);
+    request->size += data_size;
+
+    if (!last_segment) {
+        fsm->toggle = !fsm->toggle;
+
+        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+            fsm->state = ec_fsm_coe_error;
+            return;
+        }
+
+        EC_WRITE_U16(data, 0x2 << 12); // SDO request
+        EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
+                                | 0x3 << 5)); // upload segment request
+
+        if (master->debug_level) {
+            EC_DBG("Upload segment request:\n");
+            ec_print_data(data, 3);
+        }
+
+        ec_master_queue_datagram(fsm->slave->master, datagram);
+        fsm->state = ec_fsm_coe_up_seg_request;
+        return;
+    }
+
+    fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe.h	Tue Oct 24 08:00:24 2006 +0000
@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  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
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  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 right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT CoE state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_COE__
+#define __EC_FSM_COE__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+#include "canopen.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
+
+/**
+   Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm_coe
+{
+    ec_slave_t *slave; /**< slave the FSM runs on */
+    ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+    void (*state)(ec_fsm_coe_t *); /**< CoE state function */
+    ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
+    cycles_t cycles_start; /**< CoE timestamp */
+    ec_sdo_t *sdo; /**< current SDO */
+    uint8_t subindex; /**< current subindex */
+    ec_sdo_request_t *request; /**< SDO request */
+    uint8_t toggle; /**< toggle bit for segment commands */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
+void ec_fsm_coe_clear(ec_fsm_coe_t *);
+
+void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
+void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
+void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
+
+int ec_fsm_coe_exec(ec_fsm_coe_t *);
+int ec_fsm_coe_success(ec_fsm_coe_t *);
+
+/*****************************************************************************/
+
+#endif