From 299a039c49873b6c4bc4bb0f0281c0d0415838b9 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 10:10:05 +0200
Subject: [PATCH 1/8] Defined interface.

---
 include/ecrt.h | 27 +++++++++++++++++++++++++++
 1 file changed, 27 insertions(+)

diff --git a/include/ecrt.h b/include/ecrt.h
index 4db3448d..3a6addcf 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -49,6 +49,9 @@
  *   ecrt_slave_config_eoe_dns_address(),
  *   ecrt_slave_config_eoe_hostname() and the EC_HAVE_SET_IP
  *   definition to check for its existence.
+ * - Added ecrt_slave_config_state_timeout() to set the application-layer
+ *   state change timeout and EC_HAVE_STATE_TIMEOUT to check for its
+ *   existence.
  *
  * Changes since version 1.5.2:
  *
@@ -252,6 +255,10 @@
  */
 #define EC_HAVE_SET_IP
 
+/** Defined, if the method ecrt_slave_config_state_timeout() is available.
+ */
+#define EC_HAVE_STATE_TIMEOUT
+
 /****************************************************************************/
 
 /** Symbol visibility control macro.
@@ -2003,6 +2010,26 @@ EC_PUBLIC_API int ecrt_slave_config_eoe_hostname(
         const char *name /**< Zero-terminated host name. */
         );
 
+/** Sets the application-layer state transition timeout in ms.
+ *
+ * Change the maximum allowed time for a slave to make an application-layer
+ * state transition for the given state transition (for example from PREOP to
+ * SAFEOP). The default timeout is 10 s. Some transitions of specific slaves
+ * may take longer.
+ *
+ * This method has to be called in non-realtime context before
+ * ecrt_master_activate().
+ *
+ * \retval  0 Success.
+ * \retval <0 Error code.
+ */
+EC_PUBLIC_API int ecrt_slave_config_state_timeout(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        ec_al_state_t from_state, /**< Initial state. */
+        ec_al_state_t to_state, /**< Target state. */
+        unsigned int timeout_ms /**< Timeout in [ms]. */
+        );
+
 /*****************************************************************************
  * Domain methods
  ****************************************************************************/

From 4fe6b87f89c27c846b399c20e7b8b3603e521519 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 11:00:25 +0200
Subject: [PATCH 2/8] Added missing prototypes.

---
 devices/generic.c    |  8 ++++++++
 examples/mini/mini.c | 15 +++++++++++++++
 2 files changed, 23 insertions(+)

diff --git a/devices/generic.c b/devices/generic.c
index 53307bda..f078057b 100644
--- a/devices/generic.c
+++ b/devices/generic.c
@@ -56,6 +56,7 @@
 
 int __init ec_gen_init_module(void);
 void __exit ec_gen_cleanup_module(void);
+void ec_gen_poll(struct net_device *);
 
 /****************************************************************************/
 
@@ -87,11 +88,18 @@ typedef struct {
     uint8_t dev_addr[ETH_ALEN];
 } ec_gen_interface_desc_t;
 
+int ec_gen_device_init(ec_gen_device_t *);
+void ec_gen_device_clear(ec_gen_device_t *);
+int ec_gen_device_create_socket(ec_gen_device_t *, ec_gen_interface_desc_t *);
+int ec_gen_device_offer(ec_gen_device_t *, ec_gen_interface_desc_t *);
 int ec_gen_device_open(ec_gen_device_t *);
 int ec_gen_device_stop(ec_gen_device_t *);
 int ec_gen_device_start_xmit(ec_gen_device_t *, struct sk_buff *);
 void ec_gen_device_poll(ec_gen_device_t *);
 
+int offer_device(ec_gen_interface_desc_t *);
+void clear_devices(void);
+
 /****************************************************************************/
 
 static int ec_gen_netdev_open(struct net_device *dev)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 4c3af9c4..1ebadd87 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -182,6 +182,21 @@ static ec_voe_handler_t *voe;
 
 /****************************************************************************/
 
+void check_domain1_state(void);
+void check_master_state(void);
+void check_slave_config_states(void);
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0)
+void cyclic_task(struct timer_list *);
+#else
+void cyclic_task(unsigned long);
+#endif
+void send_callback(void *);
+void receive_callback(void *);
+int init_mini_module(void);
+void cleanup_mini_module(void);
+
+/****************************************************************************/
+
 void check_domain1_state(void)
 {
     ec_domain_state_t ds;

From 6503e0a32a6e090afca2b9464548ea98490f5298 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 11:01:37 +0200
Subject: [PATCH 3/8] Added missing prototypes.

---
 master/domain.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/master/domain.c b/master/domain.c
index 34eecb4b..d74fd715 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -41,7 +41,14 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
 void ec_domain_clear_data(ec_domain_t *);
+int ec_domain_add_datagram_pair(ec_domain_t *, uint32_t, size_t, uint8_t *,
+        const unsigned int []);
+int shall_count(const ec_fmmu_config_t *, const ec_fmmu_config_t *);
+#if EC_MAX_NUM_DEVICES > 1
+int data_changed(uint8_t *, const ec_datagram_t *, size_t, size_t);
+#endif
 
 /****************************************************************************/
 

From 737c3cf3d77454ad9d4322e55563d44e0e36229d Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 11:03:10 +0200
Subject: [PATCH 4/8] Removed unused methods.

---
 master/foe_request.c | 39 +--------------------------------------
 1 file changed, 1 insertion(+), 38 deletions(-)

diff --git a/master/foe_request.c b/master/foe_request.c
index a7e7d55b..3b68f734 100644
--- a/master/foe_request.c
+++ b/master/foe_request.c
@@ -42,6 +42,7 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
 void ec_foe_request_clear_data(ec_foe_request_t *);
 
 /****************************************************************************/
@@ -165,44 +166,6 @@ int ec_foe_request_timed_out(
 
 /****************************************************************************/
 
-/** Set the request timeout.
- */
-void ec_foe_request_timeout(
-        ec_foe_request_t *req, /**< FoE request. */
-        uint32_t timeout /**< Timeout in ms. */
-        )
-{
-    req->issue_timeout = timeout;
-}
-
-/****************************************************************************/
-
-/** Returns a pointer to the request's data.
- *
- * \return Data pointer.
- */
-uint8_t *ec_foe_request_data(
-        ec_foe_request_t *req /**< FoE request. */
-        )
-{
-    return req->buffer;
-}
-
-/****************************************************************************/
-
-/** Returns the data size.
- *
- * \return Data size.
- */
-size_t ec_foe_request_data_size(
-        const ec_foe_request_t *req /**< FoE request. */
-        )
-{
-    return req->data_size;
-}
-
-/****************************************************************************/
-
 /** Prepares a read request (slave to master).
  */
 void ec_foe_request_read(

From 36d036b0815ccaf3883a7e06c2ddcf0f3c916ec5 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 11:05:18 +0200
Subject: [PATCH 5/8] Added missing prototypes.

---
 master/module.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/master/module.c b/master/module.c
index 407b7d92..3e81f25e 100644
--- a/master/module.c
+++ b/master/module.c
@@ -44,6 +44,10 @@ void __exit ec_cleanup_module(void);
 
 static int ec_mac_parse(uint8_t *, const char *, int);
 
+// prototypes for private functions
+int ec_mac_equal(const uint8_t *, const uint8_t *);
+int ec_mac_is_broadcast(const uint8_t *);
+
 /****************************************************************************/
 
 static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */

From b182bef61119960e2b0fd7cfca27522a13857097 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 11:54:36 +0200
Subject: [PATCH 6/8] AL state timeout lookup logic.

---
 include/ecrt.h        |   5 +-
 master/fsm_change.c   |  69 +++++++++++++++++++++------
 master/slave_config.c | 106 ++++++++++++++++++++++++++++++++++++++++++
 master/slave_config.h |   4 ++
 4 files changed, 169 insertions(+), 15 deletions(-)

diff --git a/include/ecrt.h b/include/ecrt.h
index 3a6addcf..00e2eb8c 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -2014,8 +2014,9 @@ EC_PUBLIC_API int ecrt_slave_config_eoe_hostname(
  *
  * Change the maximum allowed time for a slave to make an application-layer
  * state transition for the given state transition (for example from PREOP to
- * SAFEOP). The default timeout is 10 s. Some transitions of specific slaves
- * may take longer.
+ * SAFEOP). The default values are defined in ETG.2000.
+ *
+ * A timeout value of zero ms will restore the default value.
  *
  * This method has to be called in non-realtime context before
  * ecrt_master_activate().
diff --git a/master/fsm_change.c b/master/fsm_change.c
index 0dc10d6b..98fae184 100644
--- a/master/fsm_change.c
+++ b/master/fsm_change.c
@@ -29,17 +29,11 @@
 #include "globals.h"
 #include "master.h"
 #include "fsm_change.h"
+#include "slave_config.h"
 
 /****************************************************************************/
 
-/** Timeout while waiting for AL state change [s].
- *
- * ETG2000_S_R_V1i0i15 section 5.3.7.2 mentions 10 s as maximum AL state
- * change timeout.
- */
-#define EC_AL_STATE_CHANGE_TIMEOUT 10
-
-/****************************************************************************/
+unsigned int ec_fsm_change_timeout_ms(const ec_fsm_change_t *);
 
 void ec_fsm_change_state_start(ec_fsm_change_t *);
 void ec_fsm_change_state_check(ec_fsm_change_t *);
@@ -78,6 +72,50 @@ void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
 
 /****************************************************************************/
 
+/** Get timeout in ms.
+ *
+ * For defaults see ETG2000_S_R_V1i0i15 section 5.3.6.2.
+ */
+unsigned int ec_fsm_change_timeout_ms(
+        const ec_fsm_change_t *fsm /**< finite state machine */
+        )
+{
+    ec_slave_state_t from = fsm->old_state;
+    ec_slave_state_t to = fsm->requested_state;
+
+    /* Search for specified timeout in slave configuration */
+    if (fsm->slave->config) {
+        unsigned int timeout_ms =
+            ec_slave_config_al_timeout(fsm->slave->config, from, to);
+        if (timeout_ms) {
+            return timeout_ms;
+        }
+    }
+
+    /* No specific timeout found. Use defaults from spec. */
+
+    if (from == EC_SLAVE_STATE_INIT &&
+            (to == EC_SLAVE_STATE_PREOP || to == EC_SLAVE_STATE_BOOT)) {
+        return 3000; // PreopTimeout
+    }
+    if ((from == EC_SLAVE_STATE_PREOP && to == EC_SLAVE_STATE_SAFEOP) ||
+            (from == EC_SLAVE_STATE_SAFEOP && to == EC_SLAVE_STATE_OP)) {
+        return 10000; // SafeopOpTimeout
+    }
+    if (to == EC_SLAVE_STATE_INIT ||
+            ((from == EC_SLAVE_STATE_OP || from == EC_SLAVE_STATE_SAFEOP)
+             && to == EC_SLAVE_STATE_PREOP)) {
+        return 5000; // BackToInitTimeout
+    }
+    if (from == EC_SLAVE_STATE_OP && to == EC_SLAVE_STATE_SAFEOP) {
+        return 200; // BackToSafeopTimeout
+    }
+
+    return 10000; // default [ms]
+}
+
+/****************************************************************************/
+
 /**
    Starts the change state machine.
 */
@@ -234,6 +272,7 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
 {
     ec_datagram_t *datagram = fsm->datagram;
     ec_slave_t *slave = fsm->slave;
+    unsigned int timeout_ms;
 
     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
         return;
@@ -297,13 +336,15 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
 
     // still old state
 
+    timeout_ms = ec_fsm_change_timeout_ms(fsm);
     if (datagram->jiffies_received - fsm->jiffies_start >=
-            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
+            timeout_ms * HZ / 1000) {
         // timeout while checking
         char state_str[EC_STATE_STRING_SIZE];
         ec_state_string(fsm->requested_state, state_str, 0);
         fsm->state = ec_fsm_change_state_error;
-        EC_SLAVE_ERR(slave, "Timeout while setting state %s.\n", state_str);
+        EC_SLAVE_ERR(slave, "Timeout after %u ms while setting state %s.\n",
+                timeout_ms, state_str);
         return;
     }
 
@@ -492,6 +533,7 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
 {
     ec_datagram_t *datagram = fsm->datagram;
     ec_slave_t *slave = fsm->slave;
+    unsigned int timeout_ms;
 
     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
         return;
@@ -530,14 +572,15 @@ void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
         return;
     }
 
+    timeout_ms = ec_fsm_change_timeout_ms(fsm);
     if (datagram->jiffies_received - fsm->jiffies_start >=
-            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
+            timeout_ms * HZ / 1000) {
         // timeout while checking
         char state_str[EC_STATE_STRING_SIZE];
         ec_state_string(slave->current_state, state_str, 0);
         fsm->state = ec_fsm_change_state_error;
-        EC_SLAVE_ERR(slave, "Timeout while acknowledging state %s.\n",
-                state_str);
+        EC_SLAVE_ERR(slave, "Timeout after %u ms while acknowledging"
+                " state %s.\n", timeout_ms, state_str);
         return;
     }
 
diff --git a/master/slave_config.c b/master/slave_config.c
index e331aa81..87e81a6c 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -45,6 +45,25 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+int ec_slave_config_prepare_fmmu(ec_slave_config_t *, ec_domain_t *, uint8_t,
+        ec_direction_t);
+void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
+        ec_pdo_t *);
+
+/****************************************************************************/
+
+/** EtherCAT application-layer transition timeout.
+ */
+typedef struct {
+    struct list_head list;
+    ec_slave_state_t from;
+    ec_slave_state_t to;
+    unsigned int timeout_ms;
+} ec_al_timeout_t;
+
+/****************************************************************************/
+
 /** Slave configuration constructor.
  *
  * See ecrt_master_slave_config() for the usage of the \a alias and \a
@@ -89,6 +108,7 @@ void ec_slave_config_init(
     INIT_LIST_HEAD(&sc->voe_handlers);
     INIT_LIST_HEAD(&sc->soe_configs);
     INIT_LIST_HEAD(&sc->flags);
+    INIT_LIST_HEAD(&sc->al_timeouts);
 
 #ifdef EC_EOE
     ec_eoe_request_init(&sc->eoe_ip_param_request);
@@ -113,6 +133,7 @@ void ec_slave_config_clear(
     ec_reg_request_t *reg, *next_reg;
     ec_soe_request_t *soe, *next_soe;
     ec_flag_t *flag, *next_flag;
+    ec_al_timeout_t *timeout, *next_timeout;
 
     ec_slave_config_detach(sc);
 
@@ -169,6 +190,12 @@ void ec_slave_config_clear(
         kfree(flag);
     }
 
+    // free all AL timeouts
+    list_for_each_entry_safe(timeout, next_timeout, &sc->al_timeouts, list) {
+        list_del(&timeout->list);
+        kfree(timeout);
+    }
+
     ec_coe_emerg_ring_clear(&sc->emerg_ring);
 }
 
@@ -625,6 +652,26 @@ ec_flag_t *ec_slave_config_find_flag(
     return NULL;
 }
 
+/****************************************************************************/
+
+/** Return an AL state timeout.
+ *
+ * \return Search result, or 0.
+ */
+unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *sc,
+        ec_slave_state_t from, ec_slave_state_t to)
+{
+    ec_al_timeout_t *timeout;
+
+    list_for_each_entry(timeout, &sc->al_timeouts, list) {
+        if (timeout->from == from && timeout->to == to) {
+            return timeout->timeout_ms;
+        }
+    }
+
+    return 0;
+}
+
 /*****************************************************************************
  *  Application interface
  ****************************************************************************/
@@ -1504,6 +1551,64 @@ int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
 
 /****************************************************************************/
 
+int ecrt_slave_config_state_timeout(ec_slave_config_t *sc,
+        ec_al_state_t from, ec_al_state_t to, unsigned int timeout_ms)
+{
+    ec_al_timeout_t *timeout;
+    ec_slave_state_t from_state, to_state;
+
+    if (from != EC_AL_STATE_INIT && from != EC_AL_STATE_PREOP &&
+            from != EC_AL_STATE_SAFEOP && from != EC_AL_STATE_OP) {
+        EC_CONFIG_ERR(sc, "Invalid from state %i.\n", from);
+        return -EINVAL;
+    }
+    if (to != EC_AL_STATE_INIT && to != EC_AL_STATE_PREOP &&
+            to != EC_AL_STATE_SAFEOP && to != EC_AL_STATE_OP) {
+        EC_CONFIG_ERR(sc, "Invalid to state %i.\n", to);
+        return -EINVAL;
+    }
+
+    from_state = (ec_slave_state_t) from;
+    to_state = (ec_slave_state_t) to;
+
+    /* try to find an already configured timeout. */
+    list_for_each_entry(timeout, &sc->al_timeouts, list) {
+        if (timeout->from == from_state && timeout->to == to_state) {
+            if (timeout_ms == 0) {
+                // delete configured value
+                list_del(&timeout->list);
+                kfree(timeout);
+                return 0;
+            }
+            timeout->timeout_ms = timeout_ms;
+            return 0;
+        }
+    }
+
+    if (timeout_ms == 0) {
+        return 0;
+    }
+
+    /* no timeout found. create one. */
+    if (!(timeout = (ec_al_timeout_t *)
+          kmalloc(sizeof(ec_al_timeout_t), GFP_KERNEL))) {
+        EC_CONFIG_ERR(sc, "Failed to allocate memory for"
+                " AL timeout configuration!\n");
+        return -ENOMEM;
+    }
+
+    timeout->from = from_state;
+    timeout->to = to_state;
+    timeout->timeout_ms = timeout_ms;
+
+    down(&sc->master->master_sem);
+    list_add_tail(&timeout->list, &sc->al_timeouts);
+    up(&sc->master->master_sem);
+    return 0;
+}
+
+/****************************************************************************/
+
 /** \cond */
 
 EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
@@ -1540,6 +1645,7 @@ EXPORT_SYMBOL(ecrt_slave_config_eoe_default_gateway);
 EXPORT_SYMBOL(ecrt_slave_config_eoe_dns_address);
 EXPORT_SYMBOL(ecrt_slave_config_eoe_hostname);
 #endif
+EXPORT_SYMBOL(ecrt_slave_config_state_timeout);
 
 /** \endcond */
 
diff --git a/master/slave_config.h b/master/slave_config.h
index 688156fc..124995c2 100644
--- a/master/slave_config.h
+++ b/master/slave_config.h
@@ -140,6 +140,7 @@ struct ec_slave_config {
     struct list_head reg_requests; /**< List of register requests. */
     struct list_head soe_configs; /**< List of SoE configurations. */
     struct list_head flags; /**< List of feature flags. */
+    struct list_head al_timeouts; /**< List of specific AL state timeouts. */
 
 #ifdef EC_EOE
     ec_eoe_request_t eoe_ip_param_request; /**< EoE IP parameters. */
@@ -187,6 +188,9 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
 ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
         ec_slave_config_t *, size_t);
 
+unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *,
+        ec_slave_state_t, ec_slave_state_t);
+
 /****************************************************************************/
 
 #endif

From 95a25495afb725b3f95b52bd6f10b359f1928ad2 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 12:06:48 +0200
Subject: [PATCH 7/8] Added ecrt_slave_config_state_timeout() in user-space
 library.

---
 lib/libethercat.map |  1 +
 lib/slave_config.c  | 24 +++++++++++++++
 master/ioctl.c      | 47 ++++++++++++++++++++++++++++++
 master/ioctl.h      | 71 ++++++++++++++++++++++++++-------------------
 4 files changed, 113 insertions(+), 30 deletions(-)

diff --git a/lib/libethercat.map b/lib/libethercat.map
index 7a83f83b..759e6b58 100644
--- a/lib/libethercat.map
+++ b/lib/libethercat.map
@@ -110,4 +110,5 @@ LIBETHERCAT_1.6 {
 		ecrt_slave_config_eoe_default_gateway;
 		ecrt_slave_config_eoe_dns_address;
 		ecrt_slave_config_eoe_hostname;
+		ecrt_slave_config_state_timeout;
 } LIBETHERCAT_1.5.3;
diff --git a/lib/slave_config.c b/lib/slave_config.c
index 7c3b8867..7bef3a99 100644
--- a/lib/slave_config.c
+++ b/lib/slave_config.c
@@ -1038,3 +1038,27 @@ int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
 #endif // EC_EOE
 
 /****************************************************************************/
+
+int ecrt_slave_config_state_timeout(ec_slave_config_t *sc,
+        ec_al_state_t from_state, ec_al_state_t to_state,
+        unsigned int timeout_ms)
+{
+    ec_ioctl_sc_state_timeout_t io = {};
+    int ret;
+
+    io.config_index = sc->index;
+    io.from_state = from_state;
+    io.to_state = to_state;
+    io.timeout_ms = timeout_ms;
+
+    ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE_TIMEOUT, &io);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to configure AL state timeout: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
+    }
+
+    return 0;
+}
+
+/****************************************************************************/
diff --git a/master/ioctl.c b/master/ioctl.c
index a3a7bcf1..ceceb83d 100644
--- a/master/ioctl.c
+++ b/master/ioctl.c
@@ -3332,6 +3332,46 @@ static ATTRIBUTES int ec_ioctl_sc_flag(
 
 /****************************************************************************/
 
+/** Sets an AL state transition timeout.
+ *
+ * \return Zero on success, otherwise a negative error code.
+ */
+static ATTRIBUTES int ec_ioctl_sc_state_timeout(
+        ec_master_t *master, /**< EtherCAT master. */
+        void *arg, /**< ioctl() argument. */
+        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+        )
+{
+    ec_ioctl_sc_state_timeout_t ioctl;
+    ec_slave_config_t *sc;
+    int ret;
+
+    if (unlikely(!ctx->requested)) {
+        return -EPERM;
+    }
+
+    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
+        return -EFAULT;
+    }
+
+    if (down_interruptible(&master->master_sem)) {
+        return -EINTR;
+    }
+
+    if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
+        up(&master->master_sem);
+        return -ENOENT;
+    }
+
+    up(&master->master_sem); /** \todo sc could be invalidated */
+
+    ret = ecrt_slave_config_state_timeout(sc, ioctl.from_state,
+            ioctl.to_state, ioctl.timeout_ms);
+    return ret;
+}
+
+/****************************************************************************/
+
 #ifdef EC_EOE
 
 /** Configures EoE IP parameters.
@@ -5493,6 +5533,13 @@ static long ec_ioctl_nrt
             }
             ret = ec_ioctl_sc_flag(master, arg, ctx);
             break;
+        case EC_IOCTL_SC_STATE_TIMEOUT:
+            if (!ctx->writable) {
+                ret = -EPERM;
+                break;
+            }
+            ret = ec_ioctl_sc_state_timeout(master, arg, ctx);
+            break;
 #ifdef EC_EOE
         case EC_IOCTL_SC_EOE_IP_PARAM:
             if (!ctx->writable) {
diff --git a/master/ioctl.h b/master/ioctl.h
index 2cb90103..0c51e638 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -47,7 +47,7 @@
  *
  * Increment this when changing the ioctl interface!
  */
-#define EC_IOCTL_VERSION_MAGIC 36
+#define EC_IOCTL_VERSION_MAGIC 37
 
 // Command-line tool
 #define EC_IOCTL_MODULE                EC_IOR(0x00, ec_ioctl_module_t)
@@ -131,35 +131,36 @@
 #ifdef EC_EOE
 #define EC_IOCTL_SC_EOE_IP_PARAM       EC_IOW(0x48, ec_ioctl_eoe_ip_t)
 #endif
-#define EC_IOCTL_DOMAIN_SIZE            EC_IO(0x49)
-#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x4a)
-#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x4b)
-#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x4c)
-#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x4d, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x4e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x50, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x51, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x52, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x53, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SOE_REQUEST_IDN      EC_IOWR(0x54, ec_ioctl_soe_request_t)
-#define EC_IOCTL_SOE_REQUEST_TIMEOUT  EC_IOWR(0x55, ec_ioctl_soe_request_t)
-#define EC_IOCTL_SOE_REQUEST_STATE    EC_IOWR(0x56, ec_ioctl_soe_request_t)
-#define EC_IOCTL_SOE_REQUEST_READ     EC_IOWR(0x57, ec_ioctl_soe_request_t)
-#define EC_IOCTL_SOE_REQUEST_WRITE    EC_IOWR(0x58, ec_ioctl_soe_request_t)
-#define EC_IOCTL_SOE_REQUEST_DATA     EC_IOWR(0x59, ec_ioctl_soe_request_t)
-#define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x5a, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x5b, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x5c, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x5d, ec_ioctl_reg_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x5e, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x5f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ              EC_IOW(0x60, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x61, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x62, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x63, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA             EC_IOWR(0x64, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x65, size_t)
+#define EC_IOCTL_SC_STATE_TIMEOUT      EC_IOW(0x49, ec_ioctl_sc_state_timeout_t)
+#define EC_IOCTL_DOMAIN_SIZE            EC_IO(0x4a)
+#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x4b)
+#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x4c)
+#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x4d)
+#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x4e, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_INDEX    EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x50, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x51, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x52, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x53, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x54, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SOE_REQUEST_IDN      EC_IOWR(0x55, ec_ioctl_soe_request_t)
+#define EC_IOCTL_SOE_REQUEST_TIMEOUT  EC_IOWR(0x56, ec_ioctl_soe_request_t)
+#define EC_IOCTL_SOE_REQUEST_STATE    EC_IOWR(0x57, ec_ioctl_soe_request_t)
+#define EC_IOCTL_SOE_REQUEST_READ     EC_IOWR(0x58, ec_ioctl_soe_request_t)
+#define EC_IOCTL_SOE_REQUEST_WRITE    EC_IOWR(0x59, ec_ioctl_soe_request_t)
+#define EC_IOCTL_SOE_REQUEST_DATA     EC_IOWR(0x5a, ec_ioctl_soe_request_t)
+#define EC_IOCTL_REG_REQUEST_DATA     EC_IOWR(0x5b, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_STATE    EC_IOWR(0x5c, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_WRITE    EC_IOWR(0x5d, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_READ     EC_IOWR(0x5e, ec_ioctl_reg_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x5f, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x60, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ              EC_IOW(0x61, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x62, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x63, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x64, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA             EC_IOWR(0x65, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x66, size_t)
 
 /****************************************************************************/
 
@@ -749,6 +750,16 @@ typedef struct {
 
 /****************************************************************************/
 
+typedef struct {
+    // inputs
+    uint32_t config_index;
+    ec_al_state_t from_state;
+    ec_al_state_t to_state;
+    uint32_t timeout_ms;
+} ec_ioctl_sc_state_timeout_t;
+
+/****************************************************************************/
+
 typedef struct {
     // inputs
     uint32_t domain_index;

From 7b40d5fc4008d25558002acb30663ddaf25cb97e Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Wed, 22 May 2024 12:36:16 +0200
Subject: [PATCH 8/8] Added missing prototypes.

---
 master/ethernet.c         |  4 ++++
 master/fsm_coe.c          | 15 ++++++++++++++-
 master/fsm_eoe.c          | 37 +++++++++++++++++++++----------------
 master/fsm_master.c       | 12 ++++++++++++
 master/fsm_pdo.c          | 10 +++++++++-
 master/fsm_pdo_entry.c    | 10 +++++++++-
 master/fsm_slave_config.c |  5 +++++
 master/fsm_slave_scan.c   | 24 ++++++++++++++++--------
 master/fsm_soe.c          |  8 ++++++++
 master/master.c           | 10 ++++++++++
 master/slave.c            | 16 +++++++++++-----
 11 files changed, 119 insertions(+), 32 deletions(-)

diff --git a/master/ethernet.c b/master/ethernet.c
index bd755eb5..b11ed09a 100644
--- a/master/ethernet.c
+++ b/master/ethernet.c
@@ -70,7 +70,11 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
 void ec_eoe_flush(ec_eoe_t *);
+int ec_eoe_send(ec_eoe_t *);
+
+/****************************************************************************/
 
 // state functions
 void ec_eoe_state_rx_start(ec_eoe_t *);
diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index 9b015de1..69765cd0 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -59,6 +59,19 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+void ec_canopen_abort_msg(const ec_slave_t *, uint32_t);
+int ec_fsm_coe_check_emergency(const ec_fsm_coe_t *, const uint8_t *, size_t);
+int ec_fsm_coe_prepare_dict(ec_fsm_coe_t *, ec_datagram_t *);
+int ec_fsm_coe_dict_prepare_desc(ec_fsm_coe_t *, ec_datagram_t *);
+int ec_fsm_coe_dict_prepare_entry(ec_fsm_coe_t *, ec_datagram_t *);
+int ec_fsm_coe_prepare_down_start(ec_fsm_coe_t *, ec_datagram_t *);
+void ec_fsm_coe_down_prepare_segment_request(ec_fsm_coe_t *, ec_datagram_t *);
+int ec_fsm_coe_prepare_up(ec_fsm_coe_t *, ec_datagram_t *);
+void ec_fsm_coe_up_prepare_segment_request(ec_fsm_coe_t *, ec_datagram_t *);
+
+/****************************************************************************/
+
 void ec_fsm_coe_dict_start(ec_fsm_coe_t *, ec_datagram_t *);
 void ec_fsm_coe_dict_request(ec_fsm_coe_t *, ec_datagram_t *);
 void ec_fsm_coe_dict_check(ec_fsm_coe_t *, ec_datagram_t *);
@@ -267,7 +280,7 @@ int ec_fsm_coe_success(
  * \return The data were an emergency request.
  */
 int ec_fsm_coe_check_emergency(
-        ec_fsm_coe_t *fsm, /**< Finite state machine */
+        const ec_fsm_coe_t *fsm, /**< Finite state machine */
         const uint8_t *data, /**< CoE mailbox data. */
         size_t size /**< CoE mailbox data size. */
         )
diff --git a/master/fsm_eoe.c b/master/fsm_eoe.c
index c061728d..b3ef6898 100644
--- a/master/fsm_eoe.c
+++ b/master/fsm_eoe.c
@@ -33,6 +33,27 @@
 
 /****************************************************************************/
 
+/** Maximum time to wait for a set IP parameter response.
+ */
+#define EC_EOE_RESPONSE_TIMEOUT 3000 // [ms]
+
+/****************************************************************************/
+
+// prototypes for private functions
+void memcpy_swap32(void *, const void *);
+
+int ec_fsm_eoe_prepare_set(ec_fsm_eoe_t *, ec_datagram_t *);
+
+void ec_fsm_eoe_set_ip_start(ec_fsm_eoe_t *, ec_datagram_t *);
+void ec_fsm_eoe_set_ip_request(ec_fsm_eoe_t *, ec_datagram_t *);
+void ec_fsm_eoe_set_ip_check(ec_fsm_eoe_t *, ec_datagram_t *);
+void ec_fsm_eoe_set_ip_response(ec_fsm_eoe_t *, ec_datagram_t *);
+
+void ec_fsm_eoe_end(ec_fsm_eoe_t *, ec_datagram_t *);
+void ec_fsm_eoe_error(ec_fsm_eoe_t *, ec_datagram_t *);
+
+/****************************************************************************/
+
 /** Host-architecture-independent 32-bit swap function.
  *
  * The internal storage of struct in_addr is always big-endian.
@@ -51,22 +72,6 @@ void memcpy_swap32(void *dst, const void *src)
 
 /****************************************************************************/
 
-/** Maximum time to wait for a set IP parameter response.
- */
-#define EC_EOE_RESPONSE_TIMEOUT 3000 // [ms]
-
-/****************************************************************************/
-
-void ec_fsm_eoe_set_ip_start(ec_fsm_eoe_t *, ec_datagram_t *);
-void ec_fsm_eoe_set_ip_request(ec_fsm_eoe_t *, ec_datagram_t *);
-void ec_fsm_eoe_set_ip_check(ec_fsm_eoe_t *, ec_datagram_t *);
-void ec_fsm_eoe_set_ip_response(ec_fsm_eoe_t *, ec_datagram_t *);
-
-void ec_fsm_eoe_end(ec_fsm_eoe_t *, ec_datagram_t *);
-void ec_fsm_eoe_error(ec_fsm_eoe_t *, ec_datagram_t *);
-
-/****************************************************************************/
-
 /** Constructor.
  */
 void ec_fsm_eoe_init(
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 3cbe802a..2290608b 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -44,6 +44,18 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+void ec_fsm_master_restart(ec_fsm_master_t *);
+int ec_fsm_master_action_process_sii(ec_fsm_master_t *);
+int ec_fsm_master_action_process_int_request(ec_fsm_master_t *);
+void ec_fsm_master_action_idle(ec_fsm_master_t *);
+void ec_fsm_master_action_next_slave_state(ec_fsm_master_t *);
+void ec_fsm_master_action_configure(ec_fsm_master_t *);
+u64 ec_fsm_master_dc_offset32(ec_fsm_master_t *, u64, u64, unsigned long);
+u64 ec_fsm_master_dc_offset64(ec_fsm_master_t *, u64, u64, unsigned long);
+
+/****************************************************************************/
+
 void ec_fsm_master_state_start(ec_fsm_master_t *);
 void ec_fsm_master_state_broadcast(ec_fsm_master_t *);
 void ec_fsm_master_state_read_state(ec_fsm_master_t *);
diff --git a/master/fsm_pdo.c b/master/fsm_pdo.c
index a5a4b7ad..0d5f87e1 100644
--- a/master/fsm_pdo.c
+++ b/master/fsm_pdo.c
@@ -34,6 +34,14 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+void ec_fsm_pdo_print(const ec_fsm_pdo_t *);
+int ec_fsm_pdo_running(const ec_fsm_pdo_t *);
+ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(const ec_fsm_pdo_t *,
+        const struct list_head *);
+
+/****************************************************************************/
+
 void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
 void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
 void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
@@ -94,7 +102,7 @@ void ec_fsm_pdo_clear(
 /** Print the current and desired PDO assignment.
  */
 void ec_fsm_pdo_print(
-        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+        const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     printk(KERN_CONT "Currently assigned PDOs: ");
diff --git a/master/fsm_pdo_entry.c b/master/fsm_pdo_entry.c
index 3de74ce4..3c7be428 100644
--- a/master/fsm_pdo_entry.c
+++ b/master/fsm_pdo_entry.c
@@ -34,6 +34,14 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+void ec_fsm_pdo_entry_print(const ec_fsm_pdo_entry_t *);
+int ec_fsm_pdo_entry_running(const ec_fsm_pdo_entry_t *);
+ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(const ec_fsm_pdo_entry_t *,
+        const struct list_head *);
+
+/****************************************************************************/
+
 void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
 void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *, ec_datagram_t *);
 void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *, ec_datagram_t *);
@@ -82,7 +90,7 @@ void ec_fsm_pdo_entry_clear(
 /** Print the current and desired PDO mapping.
  */
 void ec_fsm_pdo_entry_print(
-        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     printk(KERN_CONT "Currently mapped PDO entries: ");
diff --git a/master/fsm_slave_config.c b/master/fsm_slave_config.c
index f0f0d250..25887ad6 100644
--- a/master/fsm_slave_config.c
+++ b/master/fsm_slave_config.c
@@ -52,6 +52,11 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *);
+
+/****************************************************************************/
+
 void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *);
diff --git a/master/fsm_slave_scan.c b/master/fsm_slave_scan.c
index a4bc3db1..e4b56358 100644
--- a/master/fsm_slave_scan.c
+++ b/master/fsm_slave_scan.c
@@ -35,6 +35,19 @@
 
 /****************************************************************************/
 
+// prototypes for private methods
+int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_enter_sii_size(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_enter_assign_sii(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
+#ifdef EC_REGALIAS
+void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
+#endif
+void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
+void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
+
+/****************************************************************************/
+
 void ec_fsm_slave_scan_state_start(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_address(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_state(ec_fsm_slave_scan_t *);
@@ -57,13 +70,6 @@ void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
 void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
 
-void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
-#ifdef EC_REGALIAS
-void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
-#endif
-void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
-void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
-
 /****************************************************************************/
 
 /** Constructor.
@@ -115,7 +121,9 @@ void ec_fsm_slave_scan_start(
    \return false, if state machine has terminated
 */
 
-int ec_fsm_slave_scan_running(const ec_fsm_slave_scan_t *fsm /**< slave state machine */)
+int ec_fsm_slave_scan_running(
+        const ec_fsm_slave_scan_t *fsm /**< slave state machine */
+        )
 {
     return fsm->state != ec_fsm_slave_scan_state_end
         && fsm->state != ec_fsm_slave_scan_state_error;
diff --git a/master/fsm_soe.c b/master/fsm_soe.c
index 161e3e3d..b24f03a9 100644
--- a/master/fsm_soe.c
+++ b/master/fsm_soe.c
@@ -56,6 +56,14 @@ enum {
 
 /****************************************************************************/
 
+// prototypes for private methods
+void ec_print_soe_error(const ec_slave_t *, uint16_t);
+void ec_fsm_soe_print_error(ec_fsm_soe_t *);
+int ec_fsm_soe_prepare_read(ec_fsm_soe_t *, ec_datagram_t *);
+void ec_fsm_soe_write_next_fragment(ec_fsm_soe_t *, ec_datagram_t *);
+
+/****************************************************************************/
+
 void ec_fsm_soe_read_start(ec_fsm_soe_t *, ec_datagram_t *);
 void ec_fsm_soe_read_request(ec_fsm_soe_t *, ec_datagram_t *);
 void ec_fsm_soe_read_check(ec_fsm_soe_t *, ec_datagram_t *);
diff --git a/master/master.c b/master/master.c
index 0a5f316a..c66bd12a 100644
--- a/master/master.c
+++ b/master/master.c
@@ -97,8 +97,18 @@ const unsigned int rate_intervals[] = {
 
 /****************************************************************************/
 
+void ec_master_clear_config(ec_master_t *);
 void ec_master_clear_slave_configs(ec_master_t *);
 void ec_master_clear_domains(ec_master_t *);
+int ec_master_thread_start(ec_master_t *, int (*)(void *), const char *);
+void ec_master_thread_stop(ec_master_t *);
+void ec_master_inject_external_datagrams(ec_master_t *);
+ec_datagram_t *ec_master_get_external_datagram(ec_master_t *);
+void ec_master_exec_slave_fsms(ec_master_t *);
+void ec_master_send_datagrams(ec_master_t *, ec_device_index_t);
+int ec_master_calc_topology_rec(ec_master_t *, ec_slave_t *, unsigned int *);
+void ec_master_calc_topology(ec_master_t *);
+void ec_master_calc_transmission_delays(ec_master_t *);
 static int ec_master_idle_thread(void *);
 static int ec_master_operation_thread(void *);
 #ifdef EC_EOE
diff --git a/master/slave.c b/master/slave.c
index 83ebf084..04cf2151 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -42,7 +42,13 @@ extern const ec_code_msg_t al_status_messages[];
 
 /****************************************************************************/
 
-char *ec_slave_sii_string(ec_slave_t *, unsigned int);
+// prototypes for private methods
+char *ec_slave_sii_string(const ec_slave_t *, unsigned int);
+void ec_slave_find_names_for_pdo(ec_slave_t *, ec_pdo_t *);
+unsigned int ec_slave_get_previous_port(const ec_slave_t *, unsigned int);
+unsigned int ec_slave_get_next_port(const ec_slave_t *, unsigned int);
+uint32_t ec_slave_calc_rtt_sum(const ec_slave_t *);
+ec_slave_t *ec_slave_find_next_dc_slave(ec_slave_t *);
 
 /****************************************************************************/
 
@@ -570,7 +576,7 @@ int ec_slave_fetch_sii_pdos(
 */
 
 char *ec_slave_sii_string(
-        ec_slave_t *slave, /**< EtherCAT slave */
+        const ec_slave_t *slave, /**< EtherCAT slave */
         unsigned int index /**< string index */
         )
 {
@@ -805,7 +811,7 @@ void ec_slave_attach_pdo_names(
  * \return Port index.
  */
 unsigned int ec_slave_get_previous_port(
-        ec_slave_t *slave, /**< EtherCAT slave. */
+        const ec_slave_t *slave, /**< EtherCAT slave. */
         unsigned int port_index /**< Port index. */
         )
 {
@@ -835,7 +841,7 @@ unsigned int ec_slave_get_previous_port(
  * \return Port index.
  */
 unsigned int ec_slave_get_next_port(
-        ec_slave_t *slave, /**< EtherCAT slave. */
+        const ec_slave_t *slave, /**< EtherCAT slave. */
         unsigned int port_index /**< Port index. */
         )
 {
@@ -865,7 +871,7 @@ unsigned int ec_slave_get_next_port(
  * \return Round-trip-time in ns.
  */
 uint32_t ec_slave_calc_rtt_sum(
-        ec_slave_t *slave /**< EtherCAT slave. */
+        const ec_slave_t *slave /**< EtherCAT slave. */
         )
 {
     uint32_t rtt_sum = 0, rtt;