master/fsm_coe.c
author Christoph Mathys <ch1010832@ch10pc602>
Thu, 04 Nov 2010 09:32:58 +0100
branchstable-1.5
changeset 2198 190791fd47d2
parent 2197 53b92e797e64
child 2438 9c3e629a220c
permissions -rw-r--r--
Added e1000 port for 2.6.31
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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/** Maximum time in ms to wait for responses when reading out the dictionary.
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 */
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#define EC_FSM_COE_DICT_TIMEOUT 1000
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/** CoE download request header size.
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 */
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#define EC_COE_DOWN_REQ_HEADER_SIZE 10
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/** CoE download segment request header size.
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 */
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#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
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/** Minimum size of download segment.
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 */
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#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
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/** Enable debug output for CoE retries.
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 */
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#define DEBUG_RETRIES 0
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/** Enable warning output if transfers take too long.
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 */
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#define DEBUG_LONG 0
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/*****************************************************************************/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_start(ec_fsm_coe_t *);
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void ec_fsm_coe_down_request(ec_fsm_coe_t *);
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void ec_fsm_coe_down_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_start(ec_fsm_coe_t *);
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void ec_fsm_coe_up_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_end(ec_fsm_coe_t *);
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void ec_fsm_coe_error(ec_fsm_coe_t *);
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/*****************************************************************************/
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/**
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   SDO abort messages.
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   The "abort SDO transfer request" supplies an abort code,
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   which can be translated to clear text. This table does
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   the mapping of the codes and messages.
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*/
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const ec_code_msg_t sdo_abort_messages[] = {
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    {0x05030000, "Toggle bit not changed"},
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    {0x05040000, "SDO protocol timeout"},
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    {0x05040001, "Client/Server command specifier not valid or unknown"},
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    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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    {0x06020000, "This object does not exist in the object directory"},
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    {0x06040041, "The object cannot be mapped into the PDO"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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     " exceed the PDO length"},
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    {0x06040043, "General parameter incompatibility reason"},
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    {0x06040047, "Gerneral internal incompatibility in device"},
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    {0x06060000, "Access failure due to a hardware error"},
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    {0x06070010, "Data type does not match, length of service parameter does"
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     " not match"},
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    {0x06070012, "Data type does not match, length of service parameter too"
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     " high"},
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    {0x06070013, "Data type does not match, length of service parameter too"
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     " low"},
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    {0x06090011, "Subindex does not exist"},
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    {0x06090030, "Value range of parameter exceeded"},
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    {0x06090031, "Value of parameter written too high"},
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    {0x06090032, "Value of parameter written too low"},
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    {0x06090036, "Maximum value is less than minimum value"},
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    {0x08000000, "General error"},
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    {0x08000020, "Data cannot be transferred or stored to the application"},
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    {0x08000021, "Data cannot be transferred or stored to the application"
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     " because of local control"},
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    {0x08000022, "Data cannot be transferred or stored to the application"
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     " because of the present device state"},
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    {0x08000023, "Object dictionary dynamic generation fails or no object"
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     " dictionary is present"},
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    {}
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};
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/*****************************************************************************/
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1921
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/** Outputs an SDO abort message.
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 */
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void ec_canopen_abort_msg(const ec_slave_t *slave, uint32_t abort_code)
436
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{
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    const ec_code_msg_t *abort_msg;
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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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        if (abort_msg->code == abort_code) {
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            EC_SLAVE_ERR(slave, "SDO abort message 0x%08X: \"%s\".\n",
436
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                   abort_msg->code, abort_msg->message);
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            return;
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        }
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    }
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    EC_SLAVE_ERR(slave, "Unknown SDO abort code 0x%08X.\n", abort_code);
436
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}
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts reading a slaves' SDO dictionary.
436
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*/
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
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                           ec_slave_t *slave /**< EtherCAT slave */
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                           )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_dict_start;
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}
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/*****************************************************************************/
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/**
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   Starts to transfer an SDO to/from a slave.
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*/
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void ec_fsm_coe_transfer(
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        ec_fsm_coe_t *fsm, /**< State machine. */
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        ec_slave_t *slave, /**< EtherCAT slave. */
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        ec_sdo_request_t *request /**< SDO request. */
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        )
436
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{
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    fsm->slave = slave;
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    fsm->request = request;
859
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    if (request->dir == EC_DIR_OUTPUT)
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        fsm->state = ec_fsm_coe_down_start;
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    else
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        fsm->state = ec_fsm_coe_up_start;
436
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_end;
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   246
}
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895
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/*****************************************************************************/
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   249
1092
69393cf60399 Improved source code doc.
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/** Check if the received data are a CoE emergency request.
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 *
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 * If the check is positive, the emergency request is output.
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 *
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 * \return The data were an emergency request.
895
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 */
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int ec_fsm_coe_check_emergency(
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        ec_fsm_coe_t *fsm, /**< Finite state machine */
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   258
        const uint8_t *data, /**< CoE mailbox data. */
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   259
        size_t size /**< CoE mailbox data size. */
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        )
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{
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   262
    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
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   263
        return 0;
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    if (size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
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   266
        EC_SLAVE_WARN(fsm->slave, "Received incomplete CoE Emergency"
d9cf40facbc4 Improved syslog macros.
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diff changeset
   267
                " request:\n");
895
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        ec_print_data(data, size);
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   269
        return 1;
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   270
    }
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
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   271
1921
d9cf40facbc4 Improved syslog macros.
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   272
    EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
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   273
            "Error code 0x%04X, Error register 0x%02X, data:\n",
895
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   274
            EC_READ_U16(data + 2), EC_READ_U8(data + 4));
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   275
    ec_print_data(data + 5, 5);
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   276
    return 1;
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   277
}
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   278
436
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/******************************************************************************
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 *  CoE dictionary state machine
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 *****************************************************************************/
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/**
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   CoE state: DICT START.
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*/
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   286
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    uint8_t *data;
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834
0791aac03180 Separated SII data from slave.
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   293
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
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   294
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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diff changeset
   295
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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   296
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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   297
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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   298
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
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   299
    if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
1921
d9cf40facbc4 Improved syslog macros.
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   300
        EC_SLAVE_ERR(slave, "Slave does not support"
d9cf40facbc4 Improved syslog macros.
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diff changeset
   301
                " SDO information service!\n");
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
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   302
        fsm->state = ec_fsm_coe_error;
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   303
        return;
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diff changeset
   304
    }
aa030fb1e980 Only query Sdo information service, if slave supports it.
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   305
1313
ed15eef57d5c Improved error case return codes of many functions.
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   306
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   307
    if (IS_ERR(data)) {
436
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   308
        fsm->state = ec_fsm_coe_error;
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   309
        return;
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   310
    }
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   311
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   312
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
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   313
    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
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   314
    EC_WRITE_U8 (data + 3, 0x00);
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parents:
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   315
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents: 1326
diff changeset
   316
    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
436
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   317
505
bc443ca0077f State machines re-send datagrams on timeout.
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   318
    fsm->retries = EC_FSM_RETRIES;
436
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   319
    fsm->state = ec_fsm_coe_dict_request;
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   320
}
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   321
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   322
/*****************************************************************************/
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   323
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diff changeset
   324
/**
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   325
   CoE state: DICT REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
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   326
   \todo Timeout behavior
436
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   327
*/
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   328
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   329
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
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   330
{
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   331
    ec_datagram_t *datagram = fsm->datagram;
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   332
    ec_slave_t *slave = fsm->slave;
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   333
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   334
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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parents: 594
diff changeset
   335
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   336
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   337
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   338
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1907
diff changeset
   339
        EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros.
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parents: 1907
diff changeset
   340
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   341
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   342
        return;
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   343
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   344
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   345
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   346
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1907
diff changeset
   347
        EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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parents: 637
diff changeset
   348
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   349
        return;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   350
    }
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diff changeset
   351
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   352
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
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diff changeset
   353
63214beb641d Layed out CoE state machine.
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   354
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   355
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   356
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
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diff changeset
   357
}
63214beb641d Layed out CoE state machine.
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   358
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   359
/*****************************************************************************/
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diff changeset
   360
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   361
/**
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   362
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   363
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   365
void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   366
{
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   367
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   369
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   370
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   371
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   372
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   373
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   374
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   375
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   376
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   377
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   378
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   379
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   380
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   381
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   382
        EC_SLAVE_ERR(slave,"Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   383
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   384
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   389
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   390
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   391
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   393
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   394
                    " SDO dictionary list response.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   399
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   405
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   413
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    unsigned int sdo_count, i;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   423
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    ec_sdo_t *sdo;
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   425
    bool first_segment;
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   426
    size_t index_list_offset;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   428
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   429
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   430
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   431
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   432
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   433
        EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   434
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   435
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   436
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   437
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   438
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   439
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   440
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   441
        EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   442
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   446
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   447
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   453
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   454
                mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        fsm->state = ec_fsm_coe_error;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   456
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   459
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   460
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   461
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   462
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   463
        fsm->state = ec_fsm_coe_dict_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   464
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   465
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   466
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   467
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   468
        EC_SLAVE_ERR(slave, "Received corrupted SDO dictionary response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   469
                " (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   470
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   471
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   472
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   473
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   474
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   476
        EC_SLAVE_ERR(slave, "SDO information error response!\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   477
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   478
            EC_SLAVE_ERR(slave, "Incomplete SDO information"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   479
                    " error response:\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   480
            ec_print_data(data, rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   481
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   482
            ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   483
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        fsm->state = ec_fsm_coe_error;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   485
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   488
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   490
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   491
            EC_SLAVE_DBG(slave, 1, "Invalid SDO list response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   492
                    " Retrying...\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   493
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   494
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   495
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   496
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   497
        fsm->state = ec_fsm_coe_dict_check;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   498
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   501
    first_segment = list_empty(&slave->sdo_dictionary) ? true : false;
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   502
    index_list_offset = first_segment ? 8 : 6;
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   503
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   504
    if (rec_size < index_list_offset || rec_size % 2) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   505
        EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
        fsm->state = ec_fsm_coe_error;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   508
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   511
    sdo_count = (rec_size - index_list_offset) / 2;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
    for (i = 0; i < sdo_count; i++) {
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
   514
        sdo_index = EC_READ_U16(data + index_list_offset + i * 2);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
        if (!sdo_index) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   516
            EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
            continue;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   520
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   521
            EC_SLAVE_ERR(slave, "Failed to allocate memory for SDO!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 991
diff changeset
   526
        ec_sdo_init(sdo, slave, sdo_index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   530
    fragments_left = EC_READ_U16(data + 4);
1923
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   531
    if (fragments_left) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   532
        EC_SLAVE_DBG(slave, 1, "SDO list fragments left: %u\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   533
                fragments_left);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   534
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   535
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   536
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   537
        // more messages waiting. check again.
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   538
        fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   540
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
    if (list_empty(&slave->sdo_dictionary)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   546
        // no SDOs in dictionary. finished.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
        fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   551
    // fetch SDO descriptions
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
    fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   554
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   555
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   560
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
    EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   564
    EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   566
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   574
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   582
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   583
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   584
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   585
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   586
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   587
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   588
                " description request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   589
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   590
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   591
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   592
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   593
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   594
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   595
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   596
                " request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   597
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   599
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   601
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   604
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   606
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
   CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   619
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   620
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   621
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   622
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   623
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   624
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   625
        ec_datagram_print_state(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   629
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   630
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   631
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   632
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   633
        ec_datagram_print_wc_error(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   634
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   635
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   636
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   638
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   639
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   640
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   642
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   643
                    " SDO 0x%04x object description response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   644
                    fsm->sdo->index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   649
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   655
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
    fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   663
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   675
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   676
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   677
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   678
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   679
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   680
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   681
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   682
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   683
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   684
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   685
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   686
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   687
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   688
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   689
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   690
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   694
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   695
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   701
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   702
                mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   704
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   705
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   706
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   707
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   708
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   709
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   710
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   711
        fsm->state = ec_fsm_coe_dict_desc_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   712
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   715
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   716
        EC_SLAVE_ERR(slave, "Received corrupted SDO description response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   717
                " (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   718
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   719
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   720
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   721
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   722
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   724
        EC_SLAVE_ERR(slave, "SDO information error response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   725
                " fetching SDO 0x%04X!\n", sdo->index);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   726
        ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   728
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   731
    if (rec_size < 8) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   732
        EC_SLAVE_ERR(slave, "Received corrupted SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   733
                " description response (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   734
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   735
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   736
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   737
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   738
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   740
        EC_READ_U16(data + 6) != sdo->index) { // SDO index
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   741
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   742
            EC_SLAVE_DBG(slave, 1, "Invalid object description response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   743
                    " fetching SDO 0x%04X!\n", sdo->index);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   744
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   745
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   746
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   747
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   748
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   749
        fsm->state = ec_fsm_coe_dict_desc_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   750
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
    if (rec_size < 12) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   754
        EC_SLAVE_ERR(slave, "Invalid data size!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   757
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
   760
    sdo->max_subindex = EC_READ_U8(data + 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
    sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
    if (name_size) {
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   765
        if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   766
            EC_SLAVE_ERR(slave, "Failed to allocate SDO name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
        sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
    if (EC_READ_U8(data + 2) & 0x80) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   776
        EC_SLAVE_ERR(slave, "Fragment follows (not implemented)!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   778
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
    fsm->subindex = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   785
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   786
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   790
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   791
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
    EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   795
    EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   796
    EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   797
    EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only)
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   798
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   799
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
    fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   803
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   806
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   807
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   808
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   809
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   810
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   815
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   816
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   817
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   818
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   819
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   820
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   821
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   822
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   823
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   824
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   825
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   826
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   827
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   828
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   829
        EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   830
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   834
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   835
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   836
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   837
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   838
    fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   839
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   840
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   841
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   843
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   844
   CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   853
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   854
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   855
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   856
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   857
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   858
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   859
        ec_datagram_print_state(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   863
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   864
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   865
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   866
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   867
        ec_datagram_print_wc_error(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   868
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   869
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   870
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   872
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   873
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   874
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   875
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   876
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   877
                    " SDO entry 0x%04x:%x description response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   878
                    fsm->sdo->index, fsm->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   882
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   883
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   889
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   890
    fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   891
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   892
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   893
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   894
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   895
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   897
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   901
                                    /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   902
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   903
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   905
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   906
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   907
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   908
    ec_sdo_entry_t *entry;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   909
    u16 word;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   910
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   911
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   912
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   913
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   914
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   915
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   916
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   917
                " description response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   918
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   919
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   920
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   921
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   922
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   923
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   924
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   925
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   926
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   928
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   929
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   930
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   931
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   933
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   937
        EC_SLAVE_ERR(slave, "Received mailbox protocol"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   938
                " 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   940
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   941
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   942
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   943
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   944
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   945
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   946
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   947
        fsm->state = ec_fsm_coe_dict_entry_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   948
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   950
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   951
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   952
        EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   953
                " description response (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   954
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   955
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   956
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   957
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   958
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
2197
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   960
        EC_SLAVE_WARN(slave, "SDO information error response while"
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   961
               " fetching SDO entry 0x%04X:%02X!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
               sdo->index, fsm->subindex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   963
        ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
2197
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   964
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   965
        /* There may be gaps in the subindices, so try to continue with next
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   966
         * subindex. */
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   967
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   968
    } else {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   969
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   970
        if (rec_size < 9) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   971
            EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   972
                    " description response (size %zu).\n", rec_size);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   973
            fsm->state = ec_fsm_coe_error;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   974
            return;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   975
        }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   976
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   977
        if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   978
            (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   979
            EC_READ_U16(data + 6) != sdo->index || // SDO index
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   980
            EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   981
            if (fsm->slave->master->debug_level) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   982
                EC_SLAVE_DBG(slave, 1, "Invalid entry description response"
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   983
                        " while fetching SDO entry 0x%04X:%02X!\n",
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   984
                        sdo->index, fsm->subindex);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   985
                ec_print_data(data, rec_size);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   986
            }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   987
            // check for CoE response again
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   988
            ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   989
            fsm->retries = EC_FSM_RETRIES;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   990
            fsm->state = ec_fsm_coe_dict_entry_check;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   991
            return;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   992
        }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   993
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   994
        if (rec_size < 16) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
   995
            EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   996
            ec_print_data(data, rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   997
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   998
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   999
        }
2197
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1000
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1001
        data_size = rec_size - 16;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1002
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1003
        if (!(entry = (ec_sdo_entry_t *)
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1004
              kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1005
            EC_SLAVE_ERR(slave, "Failed to allocate entry!\n");
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1006
            fsm->state = ec_fsm_coe_error;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1007
            return;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1008
        }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1009
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1010
        ec_sdo_entry_init(entry, sdo, fsm->subindex);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1011
        entry->data_type = EC_READ_U16(data + 10);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1012
        entry->bit_length = EC_READ_U16(data + 12);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1013
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1014
        // read access rights
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1015
        word = EC_READ_U16(data + 14);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1016
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1017
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1018
            (word >> 1)  & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1019
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2)  & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1020
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1021
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1022
            (word >> 4)  & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1023
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5)  & 0x0001;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1024
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1025
        if (data_size) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1026
            uint8_t *desc;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1027
            if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1028
                EC_SLAVE_ERR(slave, "Failed to allocate SDO entry name!\n");
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1029
                fsm->state = ec_fsm_coe_error;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1030
                return;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1031
            }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1032
            memcpy(desc, data + 16, data_size);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1033
            desc[data_size] = 0;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1034
            entry->description = desc;
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1035
        }
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1036
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1037
        list_add_tail(&entry->list, &sdo->entries);
53b92e797e64 Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2196
diff changeset
  1038
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1040
    if (fsm->subindex < sdo->max_subindex) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1041
        fsm->subindex++;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1042
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1043
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1044
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1045
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1046
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1047
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1048
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1049
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1050
        EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
        EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1053
        EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1054
        EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1055
        EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1056
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1057
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
        fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1062
    // another SDO description to fetch?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1064
        fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1066
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1067
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1068
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1071
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1072
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1073
        EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1074
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1075
        EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1076
        EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1077
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1078
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1085
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1086
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1087
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1088
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1089
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1090
/** CoE state: DOWN START.
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1091
 */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1092
void ec_fsm_coe_down_start(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1093
        ec_fsm_coe_t *fsm /**< finite state machine */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1094
        )
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1095
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1096
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1097
    ec_slave_t *slave = fsm->slave;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1098
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1099
    uint8_t *data;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1100
    uint8_t data_set_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1102
    if (fsm->slave->master->debug_level) {
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1103
        char subidxstr[10];
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1104
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1105
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1106
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1107
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1108
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1109
        EC_SLAVE_DBG(slave, 1, "Downloading SDO 0x%04X%s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1110
                request->index, subidxstr);
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1111
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1112
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1113
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1114
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1115
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1116
        request->errno = EPROTONOSUPPORT;
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1117
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1118
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1119
    }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1120
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  1121
    if (slave->configured_rx_mailbox_size <
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1122
            EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1123
        EC_SLAVE_ERR(slave, "Mailbox too small!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1124
        request->errno = EOVERFLOW;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1125
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1126
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1127
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1128
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1129
    if (request->data_size <= 4) { // use expedited transfer type
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1130
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1131
                EC_COE_DOWN_REQ_HEADER_SIZE);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1132
        if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1133
            request->errno = PTR_ERR(data);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1134
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1135
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1136
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1137
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1138
        fsm->remaining = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1139
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1140
        data_set_size = 4 - request->data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1141
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1142
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1143
        EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1144
                    | data_set_size << 2
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  1145
                    | ((request->complete_access ? 1 : 0) << 4)
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1146
                    | 0x1 << 5)); // Download request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1147
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1148
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1149
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1150
        memcpy(data + 6, request->data, request->data_size);
1457
ec3ad6641d65 Slightly improved CoE download expedited request.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1151
        memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1152
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1153
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1154
            EC_SLAVE_DBG(slave, 1, "Expedited download request:\n");
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1155
            ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1156
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1157
    }
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1158
    else { // request->data_size > 4, use normal transfer type
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1159
        size_t data_size,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1160
               max_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1161
                   slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1162
               required_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1163
                   EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1164
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1165
        if (max_data_size < required_data_size) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1166
            // segmenting needed
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1167
            data_size = max_data_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1168
        } else {
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1169
            data_size = required_data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1170
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1171
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1172
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1173
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1174
        if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1175
            request->errno = PTR_ERR(data);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1176
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1177
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1178
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1179
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1180
        fsm->offset = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1181
        fsm->remaining = request->data_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1182
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1183
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1184
        EC_WRITE_U8(data + 2,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1185
                0x1 // size indicator, normal
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  1186
                | ((request->complete_access ? 1 : 0) << 4)
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1187
                | 0x1 << 5); // Download request
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1188
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1189
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1190
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1191
        EC_WRITE_U32(data + 6, request->data_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1192
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1193
        if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1194
            size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1195
            memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1196
                    request->data, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1197
            fsm->offset += segment_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1198
            fsm->remaining -= segment_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1199
        }
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1200
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1201
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1202
            EC_SLAVE_DBG(slave, 1, "Normal download request:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1203
            ec_print_data(data, data_size);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1204
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1205
    }
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1206
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1207
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1208
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1209
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1213
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1214
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1215
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1216
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1217
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1222
    ec_slave_t *slave = fsm->slave;
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1223
    unsigned long diff_ms;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1225
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1226
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1227
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1228
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1229
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1230
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1231
        EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1232
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1233
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1234
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1235
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1236
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1237
    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1238
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1239
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1240
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1241
            if (diff_ms < fsm->request->response_timeout) {
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1242
#if DEBUG_RETRIES
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1243
                EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1244
                        " download request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1245
                        diff_ms);
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1246
#endif
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1247
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1248
                return;
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1249
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1250
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1251
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1252
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1253
        EC_SLAVE_ERR(slave, "Reception of CoE download request"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1254
                " for SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1255
                fsm->request->index, fsm->request->subindex, diff_ms);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1256
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1260
#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1261
    if (diff_ms > 200) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1262
        EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1263
                fsm->request->index, fsm->request->subindex, diff_ms);
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1264
    }
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1265
#endif
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1266
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1267
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1270
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1271
    fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1272
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1274
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1275
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1276
/** CoE state: DOWN CHECK.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1277
 */
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1283
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1284
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1285
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1286
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1287
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1288
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1289
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1290
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1291
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1292
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1293
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1294
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1295
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1296
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1297
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1298
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1299
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1300
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1301
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1302
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1303
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1304
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1305
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1306
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1307
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1308
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1309
            fsm->state = ec_fsm_coe_error;
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1310
            EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1311
                    " for SDO 0x%04x:%x download response.\n", diff_ms,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1312
                    fsm->request->index, fsm->request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1313
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1314
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1315
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1316
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1317
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1318
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1319
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1320
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1321
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1322
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1323
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1324
    fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1325
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1326
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1327
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1328
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1329
/** Prepare a download segment request.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1330
 */
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1331
void ec_fsm_coe_down_prepare_segment_request(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1332
        ec_fsm_coe_t *fsm /**< finite state machine */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1333
        )
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1334
{
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1335
    ec_datagram_t *datagram = fsm->datagram;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1336
    ec_slave_t *slave = fsm->slave;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1337
    ec_sdo_request_t *request = fsm->request;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1338
    size_t max_segment_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1339
        slave->configured_rx_mailbox_size
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1340
        - EC_MBOX_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1341
        - EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1342
    size_t segment_size, data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1343
    uint8_t last_segment, seg_data_size, *data;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1344
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1345
    if (fsm->remaining > max_segment_size) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1346
        segment_size = max_segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1347
        last_segment = 0;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1348
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1349
        segment_size = fsm->remaining;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1350
        last_segment = 1;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1351
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1352
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1353
    if (segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1354
        seg_data_size = 0x00;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1355
        data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1356
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1357
        seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1358
        data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1359
            + EC_COE_DOWN_SEG_MIN_DATA_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1360
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1361
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1362
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1363
            data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1364
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1365
        request->errno = PTR_ERR(data);
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1366
        fsm->state = ec_fsm_coe_error;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1367
        return;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1368
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1369
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1370
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1371
    EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
2196
6b481c7b3b34 Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  1372
            | (seg_data_size << 1)
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1373
            | (fsm->toggle << 4)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1374
            | (0x00 << 5)); // Download segment request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1375
    memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1376
            request->data + fsm->offset, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1377
    if (segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1378
        memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size, 0x00,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1379
                EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1380
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1381
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1382
    fsm->offset += segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1383
    fsm->remaining -= segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1384
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1385
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1386
        EC_SLAVE_DBG(slave, 1, "Download segment request:\n");
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1387
        ec_print_data(data, data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1388
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1389
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1390
    fsm->state = ec_fsm_coe_down_seg_check;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1391
}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1392
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1393
/*****************************************************************************/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1394
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1395
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1396
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1397
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1399
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1400
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1401
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1402
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1403
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1404
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1405
    size_t rec_size;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1406
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1407
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1408
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1409
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1410
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1411
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1412
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1413
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1414
        EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1415
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1416
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1417
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1418
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1419
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1420
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1421
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1422
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1423
        EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1424
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1425
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1426
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1427
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1428
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1429
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1430
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1431
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1432
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1433
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1434
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1435
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1436
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1437
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1438
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1439
                mbox_prot);
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1440
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1441
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1442
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1443
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1444
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1445
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1446
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1447
        fsm->state = ec_fsm_coe_down_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1448
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1449
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1450
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1451
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1452
        EC_SLAVE_DBG(slave, 1, "Download response:\n");
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1453
        ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1454
    }
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1455
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1456
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1457
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1458
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1459
        EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1460
                rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1461
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1462
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1463
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1464
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1465
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1466
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1467
        char subidxstr[10];
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1468
        request->errno = EIO;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1469
        fsm->state = ec_fsm_coe_error;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1470
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1471
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1472
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1473
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1474
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1475
        EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1476
                request->index, subidxstr, request->data_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1477
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1478
            EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1479
            ec_print_data(data, rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1480
        } else {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1481
            fsm->request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1482
            ec_canopen_abort_msg(slave, fsm->request->abort_code);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1483
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1484
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1485
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1486
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1487
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1488
        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1489
        EC_READ_U16(data + 3) != request->index || // index
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1490
        EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1491
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1492
            EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1493
                    " Retrying...\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1494
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1495
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1496
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1497
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1498
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1499
        fsm->state = ec_fsm_coe_down_check;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1500
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1501
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1502
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1503
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1504
        fsm->toggle = 0;
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1505
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1506
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1507
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1508
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1509
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1510
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1511
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1512
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1513
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1514
   CoE state: DOWN SEG CHECK.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1515
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1516
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1517
void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1518
{
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1519
    ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1520
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1521
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1522
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1523
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1524
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1525
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1526
        fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1527
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1528
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1529
        ec_datagram_print_state(datagram);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1530
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1531
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1532
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1533
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1534
        fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1535
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1536
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1537
                " datagram failed: ");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1538
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1539
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1540
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1541
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1542
    if (!ec_slave_mbox_check(datagram)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1543
        unsigned long diff_ms =
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1544
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1545
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1546
            fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1547
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1548
            EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1549
                    " segment response.\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1550
            return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1551
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1552
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1553
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1554
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1555
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1556
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1557
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1558
    // Fetch response
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1559
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1560
    fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1561
    fsm->state = ec_fsm_coe_down_seg_response;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1562
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1563
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1564
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1565
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1566
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1567
   CoE state: DOWN SEG RESPONSE.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1568
   \todo Timeout behavior
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1569
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1570
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1571
void ec_fsm_coe_down_seg_response(
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1572
        ec_fsm_coe_t *fsm /**< finite state machine */
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1573
        )
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1574
{
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1575
    ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1576
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1577
    uint8_t *data, mbox_prot;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1578
    size_t rec_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1579
    ec_sdo_request_t *request = fsm->request;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1580
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1581
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1582
        return; // FIXME: request again?
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1583
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1584
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1585
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1586
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1587
        EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1588
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1589
        ec_datagram_print_state(datagram);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1590
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1591
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1592
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1593
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1594
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1595
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1596
        EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1597
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1598
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1599
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1600
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1601
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1602
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1603
        request->errno = PTR_ERR(data);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1604
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1605
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1606
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1607
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1608
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1609
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1610
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1611
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1612
                mbox_prot);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1613
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1614
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1615
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1616
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1617
        // check for CoE response again
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1618
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1619
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1620
        fsm->state = ec_fsm_coe_down_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1621
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1622
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1623
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1624
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1625
        EC_SLAVE_DBG(slave, 1, "Download response:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1626
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1627
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1628
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1629
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1630
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1631
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1632
        EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1633
                rec_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1634
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1635
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1636
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1637
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1638
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1639
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1640
        char subidxstr[10];
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1641
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1642
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1643
        if (request->complete_access) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1644
            subidxstr[0] = 0x00;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1645
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1646
            sprintf(subidxstr, ":%02X", request->subindex);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1647
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1648
        EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1649
                request->index, subidxstr, request->data_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1650
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1651
            EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1652
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1653
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1654
            fsm->request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1655
            ec_canopen_abort_msg(slave, fsm->request->abort_code);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1656
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1657
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1658
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1659
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1660
    if (EC_READ_U16(data) >> 12 != 0x3 ||
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1661
            ((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1662
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1663
            EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1664
                    " Retrying...\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1665
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1666
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1667
        // check for CoE response again
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1668
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1669
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1670
        fsm->state = ec_fsm_coe_down_seg_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1671
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1672
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1673
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1674
    if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1675
        EC_SLAVE_ERR(slave, "Invalid toggle received during"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1676
                " segmented download:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1677
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1678
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1679
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1680
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1681
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1682
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1683
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1684
        fsm->toggle = !fsm->toggle;
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1685
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1686
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1687
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1688
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1689
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1693
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1694
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1695
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1696
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1697
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1698
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1699
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1700
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1701
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1702
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1703
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1704
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1705
    EC_SLAVE_DBG(slave, 1, "Uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1706
            request->index, request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1707
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1708
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1709
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1710
        request->errno = EPROTONOSUPPORT;
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1711
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1712
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1713
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1714
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1715
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1716
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1717
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1718
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1719
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1720
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1721
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1722
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1723
    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1724
    EC_WRITE_U16(data + 3, request->index);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1725
    EC_WRITE_U8 (data + 5, request->subindex);
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1726
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1727
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1728
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1729
        EC_SLAVE_DBG(slave, 1, "Upload request:\n");
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1730
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1731
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1732
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1733
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1734
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1735
    fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1736
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1738
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1739
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1740
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1742
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1743
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1744
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1745
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1746
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1747
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1748
    ec_slave_t *slave = fsm->slave;
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1749
    unsigned long diff_ms;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1750
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1751
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1752
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1753
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1754
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1755
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1756
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1757
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1758
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1759
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1760
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1761
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1762
    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1763
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1764
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1765
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1766
            if (diff_ms < fsm->request->response_timeout) {
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1767
#if DEBUG_RETRIES
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1768
                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1769
                        " SDO upload request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1770
                        diff_ms);
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1771
#endif
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1772
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1773
                return;
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1774
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1775
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1776
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1777
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1778
        EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1779
                " SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1780
                fsm->request->index, fsm->request->subindex, diff_ms);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1781
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1782
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1783
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1784
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1785
#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1786
    if (diff_ms > 200) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1787
        EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1788
                fsm->request->index, fsm->request->subindex, diff_ms);
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1789
    }
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1790
#endif
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1791
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1792
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1793
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1794
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1795
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1796
    fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1797
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1798
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1799
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1800
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1801
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1802
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1803
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1804
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1805
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1806
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1807
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1808
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1809
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1810
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1811
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1812
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1813
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1814
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1815
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1816
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1817
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1818
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1819
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1820
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1821
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1822
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1823
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1824
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1825
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1826
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1827
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1828
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1829
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1830
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1831
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1832
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1043
2abea4233a6d Response timeout for checking Sdo upload.
Florian Pose <fp@igh-essen.com>
parents: 1038
diff changeset
  1833
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1834
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1835
            fsm->state = ec_fsm_coe_error;
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1836
            EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1837
                    " SDO 0x%04x:%x upload response.\n", diff_ms,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1838
                    fsm->request->index, fsm->request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1839
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1840
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1841
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1842
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1843
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1844
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1845
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1846
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1847
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1848
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1849
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1850
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1853
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1854
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1855
/** Prepare an SDO upload segment request.
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1856
 */
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1857
void ec_fsm_coe_up_prepare_segment_request(
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1858
        ec_fsm_coe_t *fsm /**< Finite state machine */
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1859
        )
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1860
{
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1861
    uint8_t *data =
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1862
        ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1863
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1864
        fsm->request->errno = PTR_ERR(data);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1865
        fsm->state = ec_fsm_coe_error;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1866
        return;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1867
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1868
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1869
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1870
    EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1871
                | 0x3 << 5)); // upload segment request
1550
81a16ba13ae6 Avoid zeroing mailbox datagram because of VoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 1544
diff changeset
  1872
    memset(data + 3, 0x00, 7);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1873
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1874
    if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1875
        EC_SLAVE_DBG(fsm->slave, 1, "Upload segment request:\n");
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1876
        ec_print_data(data, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1877
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1878
}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1879
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1880
/*****************************************************************************/
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1881
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1882
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1883
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1884
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1885
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1886
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1887
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1888
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1889
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1890
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1891
    ec_master_t *master = slave->master;
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1892
    uint16_t rec_index;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1893
    uint8_t *data, mbox_prot, rec_subindex;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1894
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1895
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1896
    unsigned int expedited, size_specified;
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1897
    int ret;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1898
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1899
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1900
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1901
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1902
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1903
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1904
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1905
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1906
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1907
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1908
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1909
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1910
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1911
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1912
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1913
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1914
        EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1915
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1916
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1917
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1918
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1919
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1920
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1921
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1922
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1923
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1924
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1925
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1926
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1927
        EC_SLAVE_DBG(slave, 1, "Upload response:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1928
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1929
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1930
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1931
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1932
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1933
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1934
        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1935
                " as response.\n", mbox_prot);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1936
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1937
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1938
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1939
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1940
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1941
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1942
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1943
        fsm->state = ec_fsm_coe_up_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1944
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1945
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1946
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1947
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1948
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1949
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1950
        EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1951
                " (%zu bytes)!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1952
        ec_print_data(data, rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1953
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1954
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1955
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1956
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1957
            EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1958
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1959
               request->index, request->subindex);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1960
        if (rec_size >= 10) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1961
            request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1962
            ec_canopen_abort_msg(slave, request->abort_code);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1963
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1964
            EC_SLAVE_ERR(slave, "No abort message.\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1965
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1966
        request->errno = EIO;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1967
        fsm->state = ec_fsm_coe_error;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1968
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1969
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1970
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1971
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1972
            EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1973
        EC_SLAVE_ERR(slave, "Received unknown response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1974
                " uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1975
                request->index, request->subindex);
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1976
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1977
        request->errno = EIO;
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1978
        fsm->state = ec_fsm_coe_error;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1979
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1980
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1981
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1982
    rec_index = EC_READ_U16(data + 3);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1983
    rec_subindex = EC_READ_U8(data + 5);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1984
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1985
    if (rec_index != request->index || rec_subindex != request->subindex) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1986
        EC_SLAVE_ERR(slave, "Received upload response for wrong SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1987
                " (0x%04X:%02X, requested: 0x%04X:%02X).\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1988
                rec_index, rec_subindex, request->index, request->subindex);
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1989
        ec_print_data(data, rec_size);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1990
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1991
        // check for CoE response again
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1992
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1993
        fsm->retries = EC_FSM_RETRIES;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1994
        fsm->state = ec_fsm_coe_up_check;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1995
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1996
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1997
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1998
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1999
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2000
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2001
    if (expedited) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2002
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2003
        if (size_specified) {
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2004
            fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2005
        } else {
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2006
            fsm->complete_size = 4;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2007
        }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2008
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2009
        if (rec_size < 6 + fsm->complete_size) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2010
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2011
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2012
            EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2013
                    " response (only %zu bytes)!\n", rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2014
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2015
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2016
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2017
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2018
        ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2019
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2020
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2021
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2022
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2023
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2024
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2025
        if (rec_size < 10) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2026
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2027
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2028
            EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2029
                    " response (only %zu bytes)!\n", rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2030
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2031
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2032
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2033
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2034
        data_size = rec_size - 10;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2035
        fsm->complete_size = EC_READ_U32(data + 6);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2036
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2037
        if (!fsm->complete_size) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2038
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2039
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2040
            EC_SLAVE_ERR(slave, "No complete size supplied!\n");
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2041
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2042
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2043
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2044
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2045
        ret = ec_sdo_request_alloc(request, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2046
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2047
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2048
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2049
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2050
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2051
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2052
        ret = ec_sdo_request_copy_data(request, data + 10, data_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2053
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2054
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2055
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2056
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2057
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2058
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2059
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2060
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2061
        if (data_size < fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2062
            EC_SLAVE_DBG(slave, 1, "SDO data incomplete (%zu / %u)."
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2063
                    " Segmenting...\n", data_size, fsm->complete_size);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2064
            ec_fsm_coe_up_prepare_segment_request(fsm);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2065
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2066
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2067
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2068
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2069
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2070
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2071
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2072
        EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2073
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2074
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2075
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2076
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2077
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2078
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2079
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2080
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2081
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2082
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2083
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2084
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2085
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2086
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2087
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2088
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2089
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2090
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2091
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2092
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2093
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2094
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2095
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2096
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2097
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2098
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2099
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2100
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2101
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2102
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2103
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2104
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2105
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2106
        EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2107
                " request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2108
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2109
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2110
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2111
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2112
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2113
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2114
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2115
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2116
    fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2117
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2118
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2119
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2120
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2121
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2122
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2123
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2124
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2125
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2126
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2127
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2128
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2129
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2130
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2131
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2132
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2133
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2134
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2135
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2136
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2137
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2138
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2139
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2140
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2141
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2142
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2143
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2144
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2145
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2146
                " failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2147
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2148
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2149
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2150
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2151
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2152
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2153
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2154
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2155
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2156
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2157
            EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2158
                    " segment response.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2159
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2160
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2161
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2162
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2163
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2164
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2165
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2166
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2167
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2168
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2169
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2170
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2171
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2172
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2173
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2174
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2175
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2176
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2177
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2178
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2179
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2180
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2181
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2182
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2183
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2184
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2185
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2186
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2187
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2188
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2189
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2190
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2191
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2192
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2193
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2194
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2195
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2196
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2197
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2198
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2199
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2200
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2201
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2202
    if (datagram->working_counter != 1) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2203
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2204
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2205
        EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2206
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2207
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2208
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2209
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2210
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  2211
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  2212
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2213
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2214
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2215
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2216
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2217
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2218
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2219
        EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2220
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2221
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2222
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2223
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2224
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2225
                mbox_prot);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2226
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2227
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2228
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2229
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2230
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2231
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2232
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2233
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2234
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2235
        fsm->state = ec_fsm_coe_up_seg_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2236
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2237
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2238
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2239
    if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2240
        EC_SLAVE_ERR(slave, "Received currupted SDO upload"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2241
                " segment response!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2242
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2243
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2244
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2245
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2246
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2247
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2248
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2249
            EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2250
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2251
               request->index, request->subindex);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2252
        request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2253
        ec_canopen_abort_msg(slave, request->abort_code);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2254
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2255
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2256
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2257
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2258
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2259
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2260
        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2261
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2262
            EC_SLAVE_DBG(slave, 1, "Invalid SDO upload segment response!\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2263
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2264
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2265
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2266
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2267
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2268
        fsm->state = ec_fsm_coe_up_seg_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2269
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2270
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2271
1533
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2272
    data_size = rec_size - 3; /* Header of segment upload is smaller than
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2273
                                 normal upload */
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2274
    if (rec_size == 10) {
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2275
        uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2276
        data_size -= seg_size;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2277
    }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2278
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2279
    if (request->data_size + data_size > fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2280
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2281
                " exceeding complete size!\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2282
                request->index, request->subindex);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2283
        request->errno = EOVERFLOW;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2284
        fsm->state = ec_fsm_coe_error;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2285
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2286
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2287
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2288
    memcpy(request->data + request->data_size, data + 3, data_size);
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2289
    request->data_size += data_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2290
1533
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2291
    last_segment = EC_READ_U8(data + 2) & 0x01;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2292
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2293
        fsm->toggle = !fsm->toggle;
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2294
        ec_fsm_coe_up_prepare_segment_request(fsm);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2295
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2296
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2297
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2298
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2299
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2300
    if (request->data_size != fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2301
        EC_SLAVE_WARN(slave, "SDO upload 0x%04X:%02X: Assembled data"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2302
                " size (%zu) does not match complete size (%u)!\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2303
                request->index, request->subindex,
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2304
                request->data_size, fsm->complete_size);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2305
    }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2306
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2307
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2308
        EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2309
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2310
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2311
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2312
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2313
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2314
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2315
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2316
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2317
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2318
   State: ERROR.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2319
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2320
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2321
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2322
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2323
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2324
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2325
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2326
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2327
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2328
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2329
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2330
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2331
void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2332
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2333
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2334
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2335
/*****************************************************************************/