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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 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
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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
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* along 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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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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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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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_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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/**
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Outputs an SDO abort message.
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*/
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void ec_canopen_abort_msg(uint32_t abort_code)
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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_ERR("SDO abort message 0x%08X: \"%s\".\n",
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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_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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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.
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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 download an SDO to a slave.
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*/
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void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
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ec_slave_t *slave, /**< EtherCAT slave */
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ec_sdo_data_t *sdodata /**< SDO data object */
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)
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{
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fsm->slave = slave;
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fsm->sdodata = sdodata;
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fsm->state = ec_fsm_coe_down_start;
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}
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/*****************************************************************************/
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/**
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Starts to upload an SDO from a slave.
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*/
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void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite 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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)
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{
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fsm->slave = slave;
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fsm->request = request;
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fsm->state = ec_fsm_coe_up_start;
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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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}
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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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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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if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
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fsm->state = ec_fsm_coe_error;
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return;
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}
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EC_WRITE_U16(data, 0x8 << 12); // SDO information
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EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
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EC_WRITE_U8 (data + 3, 0x00);
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EC_WRITE_U16(data + 4, 0x0000);
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EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
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ec_master_queue_datagram(fsm->slave->master, datagram);
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fsm->state = ec_fsm_coe_dict_request;
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}
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/*****************************************************************************/
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/**
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CoE state: DICT REQUEST.
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*/
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void ec_fsm_coe_dict_request(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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if (datagram->state != EC_DATAGRAM_RECEIVED
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|| datagram->working_counter != 1) {
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fsm->state = ec_fsm_coe_error;
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EC_ERR("Reception of CoE dictionary request failed on slave %i.\n",
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slave->ring_position);
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return;
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}
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fsm->cycles_start = datagram->cycles_sent;
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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ec_master_queue_datagram(fsm->slave->master, datagram);
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fsm->state = ec_fsm_coe_dict_check;
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}
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/*****************************************************************************/
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/**
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CoE state: DICT CHECK.
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*/
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void ec_fsm_coe_dict_check(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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if (datagram->state != EC_DATAGRAM_RECEIVED
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|| datagram->working_counter != 1) {
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fsm->state = ec_fsm_coe_error;
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EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
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slave->ring_position);
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return;
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}
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if (!ec_slave_mbox_check(datagram)) {
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if (datagram->cycles_received
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- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
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fsm->state = ec_fsm_coe_error;
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EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
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slave->ring_position);
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return;
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}
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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ec_master_queue_datagram(fsm->slave->master, datagram);
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return;
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}
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// Fetch response
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ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
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ec_master_queue_datagram(fsm->slave->master, datagram);
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fsm->state = ec_fsm_coe_dict_response;
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}
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/*****************************************************************************/
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/**
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CoE state: DICT RESPONSE.
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*/
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void ec_fsm_coe_dict_response(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, mbox_prot;
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size_t rec_size;
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344 |
unsigned int sdo_count, i;
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uint16_t sdo_index;
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ec_sdo_t *sdo;
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347 |
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if (datagram->state != EC_DATAGRAM_RECEIVED
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|| datagram->working_counter != 1) {
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fsm->state = ec_fsm_coe_error;
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|
|
351 |
EC_ERR("Reception of CoE dictionary response failed on slave %i.\n",
|
|
|
352 |
slave->ring_position);
|
|
|
353 |
return;
|
|
|
354 |
}
|
|
|
355 |
|
|
|
356 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
357 |
&mbox_prot, &rec_size))) {
|
|
|
358 |
fsm->state = ec_fsm_coe_error;
|
|
|
359 |
return;
|
|
|
360 |
}
|
|
|
361 |
|
|
|
362 |
if (mbox_prot != 0x03) { // CoE
|
|
|
363 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
364 |
fsm->state = ec_fsm_coe_error;
|
|
|
365 |
return;
|
|
|
366 |
}
|
|
|
367 |
|
|
|
368 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
|
369 |
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
|
|
|
370 |
EC_ERR("SDO information error response at slave %i!\n",
|
|
|
371 |
slave->ring_position);
|
|
|
372 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
373 |
fsm->state = ec_fsm_coe_error;
|
|
|
374 |
return;
|
|
|
375 |
}
|
|
|
376 |
|
|
|
377 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
|
378 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
|
|
|
379 |
EC_ERR("Invalid SDO list response at slave %i!\n",
|
|
|
380 |
slave->ring_position);
|
|
|
381 |
ec_print_data(data, rec_size);
|
|
|
382 |
fsm->state = ec_fsm_coe_error;
|
|
|
383 |
return;
|
|
|
384 |
}
|
|
|
385 |
|
|
|
386 |
if (rec_size < 8) {
|
|
|
387 |
EC_ERR("Invalid data size!\n");
|
|
|
388 |
ec_print_data(data, rec_size);
|
|
|
389 |
fsm->state = ec_fsm_coe_error;
|
|
|
390 |
return;
|
|
|
391 |
}
|
|
|
392 |
|
|
|
393 |
sdo_count = (rec_size - 8) / 2;
|
|
|
394 |
|
|
|
395 |
for (i = 0; i < sdo_count; i++) {
|
|
|
396 |
sdo_index = EC_READ_U16(data + 8 + i * 2);
|
|
|
397 |
if (!sdo_index) {
|
|
|
398 |
EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
|
|
|
399 |
slave->ring_position);
|
|
|
400 |
continue;
|
|
|
401 |
}
|
|
|
402 |
|
|
|
403 |
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
|
|
|
404 |
EC_ERR("Failed to allocate memory for SDO!\n");
|
|
|
405 |
fsm->state = ec_fsm_coe_error;
|
|
|
406 |
return;
|
|
|
407 |
}
|
|
|
408 |
|
|
|
409 |
if (ec_sdo_init(sdo, sdo_index, slave)) {
|
|
|
410 |
EC_ERR("Failed to init SDO!\n");
|
|
|
411 |
fsm->state = ec_fsm_coe_error;
|
|
|
412 |
return;
|
|
|
413 |
}
|
|
|
414 |
|
|
|
415 |
if (kobject_add(&sdo->kobj)) {
|
|
|
416 |
EC_ERR("Failed to add kobject.\n");
|
|
|
417 |
kobject_put(&sdo->kobj); // free
|
|
|
418 |
fsm->state = ec_fsm_coe_error;
|
|
|
419 |
return;
|
|
|
420 |
}
|
|
|
421 |
|
|
|
422 |
list_add_tail(&sdo->list, &slave->sdo_dictionary);
|
|
|
423 |
}
|
|
|
424 |
|
|
|
425 |
if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
|
|
|
426 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
427 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
428 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
429 |
fsm->state = ec_fsm_coe_dict_check;
|
|
|
430 |
return;
|
|
|
431 |
}
|
|
|
432 |
|
|
|
433 |
if (list_empty(&slave->sdo_dictionary)) {
|
|
|
434 |
// no SDOs in dictionary. finished.
|
|
|
435 |
fsm->state = ec_fsm_coe_end; // success
|
|
|
436 |
return;
|
|
|
437 |
}
|
|
|
438 |
|
|
|
439 |
// fetch SDO descriptions
|
|
|
440 |
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
|
|
|
441 |
|
|
|
442 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
|
|
|
443 |
fsm->state = ec_fsm_coe_error;
|
|
|
444 |
return;
|
|
|
445 |
}
|
|
|
446 |
|
|
|
447 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information
|
|
|
448 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
|
|
|
449 |
EC_WRITE_U8 (data + 3, 0x00);
|
|
|
450 |
EC_WRITE_U16(data + 4, 0x0000);
|
|
|
451 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
|
|
|
452 |
|
|
|
453 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
454 |
fsm->state = ec_fsm_coe_dict_desc_request;
|
|
|
455 |
}
|
|
|
456 |
|
|
|
457 |
/*****************************************************************************/
|
|
|
458 |
|
|
|
459 |
/**
|
|
|
460 |
CoE state: DICT DESC REQUEST.
|
|
|
461 |
*/
|
|
|
462 |
|
|
|
463 |
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
464 |
{
|
|
|
465 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
466 |
ec_slave_t *slave = fsm->slave;
|
|
|
467 |
|
|
|
468 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
469 |
|| datagram->working_counter != 1) {
|
|
|
470 |
fsm->state = ec_fsm_coe_error;
|
|
|
471 |
EC_ERR("Reception of CoE SDO description"
|
|
|
472 |
" request failed on slave %i.\n", slave->ring_position);
|
|
|
473 |
return;
|
|
|
474 |
}
|
|
|
475 |
|
|
|
476 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
477 |
|
|
|
478 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
479 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
480 |
fsm->state = ec_fsm_coe_dict_desc_check;
|
|
|
481 |
}
|
|
|
482 |
|
|
|
483 |
/*****************************************************************************/
|
|
|
484 |
|
|
|
485 |
/**
|
|
|
486 |
CoE state: DICT DESC CHECK.
|
|
|
487 |
*/
|
|
|
488 |
|
|
|
489 |
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
490 |
{
|
|
|
491 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
492 |
ec_slave_t *slave = fsm->slave;
|
|
|
493 |
|
|
|
494 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
495 |
|| datagram->working_counter != 1) {
|
|
|
496 |
fsm->state = ec_fsm_coe_error;
|
|
|
497 |
EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
|
|
|
498 |
slave->ring_position);
|
|
|
499 |
return;
|
|
|
500 |
}
|
|
|
501 |
|
|
|
502 |
if (!ec_slave_mbox_check(datagram)) {
|
|
|
503 |
if (datagram->cycles_received
|
|
|
504 |
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
|
|
|
505 |
fsm->state = ec_fsm_coe_error;
|
|
|
506 |
EC_ERR("Timeout while checking SDO description on slave %i.\n",
|
|
|
507 |
slave->ring_position);
|
|
|
508 |
return;
|
|
|
509 |
}
|
|
|
510 |
|
|
|
511 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
512 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
513 |
return;
|
|
|
514 |
}
|
|
|
515 |
|
|
|
516 |
// Fetch response
|
|
|
517 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
|
518 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
519 |
fsm->state = ec_fsm_coe_dict_desc_response;
|
|
|
520 |
}
|
|
|
521 |
|
|
|
522 |
/*****************************************************************************/
|
|
|
523 |
|
|
|
524 |
/**
|
|
|
525 |
CoE state: DICT DESC RESPONSE.
|
|
|
526 |
*/
|
|
|
527 |
|
|
|
528 |
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
|
|
|
529 |
/**< finite state machine */)
|
|
|
530 |
{
|
|
|
531 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
532 |
ec_slave_t *slave = fsm->slave;
|
|
|
533 |
ec_sdo_t *sdo = fsm->sdo;
|
|
|
534 |
uint8_t *data, mbox_prot;
|
|
|
535 |
size_t rec_size, name_size;
|
|
|
536 |
|
|
|
537 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
538 |
|| datagram->working_counter != 1) {
|
|
|
539 |
fsm->state = ec_fsm_coe_error;
|
|
|
540 |
EC_ERR("Reception of CoE SDO description"
|
|
|
541 |
"response failed on slave %i.\n", slave->ring_position);
|
|
|
542 |
return;
|
|
|
543 |
}
|
|
|
544 |
|
|
|
545 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
546 |
&mbox_prot, &rec_size))) {
|
|
|
547 |
fsm->state = ec_fsm_coe_error;
|
|
|
548 |
return;
|
|
|
549 |
}
|
|
|
550 |
|
|
|
551 |
if (mbox_prot != 0x03) { // CoE
|
|
|
552 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
553 |
fsm->state = ec_fsm_coe_error;
|
|
|
554 |
return;
|
|
|
555 |
}
|
|
|
556 |
|
|
|
557 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
|
558 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
|
|
|
559 |
EC_ERR("SDO information error response at slave %i while"
|
|
|
560 |
" fetching SDO 0x%04X!\n", slave->ring_position,
|
|
|
561 |
sdo->index);
|
|
|
562 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
563 |
fsm->state = ec_fsm_coe_error;
|
|
|
564 |
return;
|
|
|
565 |
}
|
|
|
566 |
|
|
|
567 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
|
568 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
|
|
|
569 |
EC_READ_U16(data + 6) != sdo->index) { // SDO index
|
|
|
570 |
EC_ERR("Invalid object description response at slave %i while"
|
|
|
571 |
" fetching SDO 0x%04X!\n", slave->ring_position,
|
|
|
572 |
sdo->index);
|
|
|
573 |
ec_print_data(data, rec_size);
|
|
|
574 |
fsm->state = ec_fsm_coe_error;
|
|
|
575 |
return;
|
|
|
576 |
}
|
|
|
577 |
|
|
|
578 |
if (rec_size < 12) {
|
|
|
579 |
EC_ERR("Invalid data size!\n");
|
|
|
580 |
ec_print_data(data, rec_size);
|
|
|
581 |
fsm->state = ec_fsm_coe_error;
|
|
|
582 |
return;
|
|
|
583 |
}
|
|
|
584 |
|
|
|
585 |
sdo->subindices = EC_READ_U8(data + 10);
|
|
|
586 |
sdo->object_code = EC_READ_U8(data + 11);
|
|
|
587 |
|
|
|
588 |
name_size = rec_size - 12;
|
|
|
589 |
if (name_size) {
|
|
|
590 |
if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
|
|
|
591 |
EC_ERR("Failed to allocate SDO name!\n");
|
|
|
592 |
fsm->state = ec_fsm_coe_error;
|
|
|
593 |
return;
|
|
|
594 |
}
|
|
|
595 |
|
|
|
596 |
memcpy(sdo->name, data + 12, name_size);
|
|
|
597 |
sdo->name[name_size] = 0;
|
|
|
598 |
}
|
|
|
599 |
|
|
|
600 |
if (EC_READ_U8(data + 2) & 0x80) {
|
|
|
601 |
EC_ERR("Fragment follows (not implemented)!\n");
|
|
|
602 |
fsm->state = ec_fsm_coe_error;
|
|
|
603 |
return;
|
|
|
604 |
}
|
|
|
605 |
|
|
|
606 |
// start fetching entries
|
|
|
607 |
|
|
|
608 |
fsm->subindex = 0;
|
|
|
609 |
|
|
|
610 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
|
|
|
611 |
fsm->state = ec_fsm_coe_error;
|
|
|
612 |
return;
|
|
|
613 |
}
|
|
|
614 |
|
|
|
615 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information
|
|
|
616 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
|
|
|
617 |
EC_WRITE_U8 (data + 3, 0x00);
|
|
|
618 |
EC_WRITE_U16(data + 4, 0x0000);
|
|
|
619 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index
|
|
|
620 |
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
|
|
|
621 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
|
|
|
622 |
|
|
|
623 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
624 |
fsm->state = ec_fsm_coe_dict_entry_request;
|
|
|
625 |
}
|
|
|
626 |
|
|
|
627 |
/*****************************************************************************/
|
|
|
628 |
|
|
|
629 |
/**
|
|
|
630 |
CoE state: DICT ENTRY REQUEST.
|
|
|
631 |
*/
|
|
|
632 |
|
|
|
633 |
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
|
|
|
634 |
/**< finite state machine */)
|
|
|
635 |
{
|
|
|
636 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
637 |
ec_slave_t *slave = fsm->slave;
|
|
|
638 |
|
|
|
639 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
640 |
|| datagram->working_counter != 1) {
|
|
|
641 |
fsm->state = ec_fsm_coe_error;
|
|
|
642 |
EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
|
|
|
643 |
slave->ring_position);
|
|
|
644 |
return;
|
|
|
645 |
}
|
|
|
646 |
|
|
|
647 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
648 |
|
|
|
649 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
650 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
651 |
fsm->state = ec_fsm_coe_dict_entry_check;
|
|
|
652 |
}
|
|
|
653 |
|
|
|
654 |
/*****************************************************************************/
|
|
|
655 |
|
|
|
656 |
/**
|
|
|
657 |
CoE state: DICT ENTRY CHECK.
|
|
|
658 |
*/
|
|
|
659 |
|
|
|
660 |
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
|
|
|
661 |
/**< finite state machine */)
|
|
|
662 |
{
|
|
|
663 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
664 |
ec_slave_t *slave = fsm->slave;
|
|
|
665 |
|
|
|
666 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
667 |
|| datagram->working_counter != 1) {
|
|
|
668 |
fsm->state = ec_fsm_coe_error;
|
|
|
669 |
EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
|
|
|
670 |
slave->ring_position);
|
|
|
671 |
return;
|
|
|
672 |
}
|
|
|
673 |
|
|
|
674 |
if (!ec_slave_mbox_check(datagram)) {
|
|
|
675 |
if (datagram->cycles_received
|
|
|
676 |
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
|
|
|
677 |
fsm->state = ec_fsm_coe_error;
|
|
|
678 |
EC_ERR("Timeout while checking SDO entry on slave %i.\n",
|
|
|
679 |
slave->ring_position);
|
|
|
680 |
return;
|
|
|
681 |
}
|
|
|
682 |
|
|
|
683 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
684 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
685 |
return;
|
|
|
686 |
}
|
|
|
687 |
|
|
|
688 |
// Fetch response
|
|
|
689 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
|
690 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
691 |
fsm->state = ec_fsm_coe_dict_entry_response;
|
|
|
692 |
}
|
|
|
693 |
|
|
|
694 |
/*****************************************************************************/
|
|
|
695 |
|
|
|
696 |
/**
|
|
|
697 |
CoE state: DICT ENTRY RESPONSE.
|
|
|
698 |
*/
|
|
|
699 |
|
|
|
700 |
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
|
|
|
701 |
/**< finite state machine */)
|
|
|
702 |
{
|
|
|
703 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
704 |
ec_slave_t *slave = fsm->slave;
|
|
|
705 |
ec_sdo_t *sdo = fsm->sdo;
|
|
|
706 |
uint8_t *data, mbox_prot;
|
|
|
707 |
size_t rec_size, data_size;
|
|
|
708 |
ec_sdo_entry_t *entry;
|
|
|
709 |
|
|
|
710 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
711 |
|| datagram->working_counter != 1) {
|
|
|
712 |
fsm->state = ec_fsm_coe_error;
|
|
|
713 |
EC_ERR("Reception of CoE SDO description"
|
|
|
714 |
" response failed on slave %i.\n", slave->ring_position);
|
|
|
715 |
return;
|
|
|
716 |
}
|
|
|
717 |
|
|
|
718 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
719 |
&mbox_prot, &rec_size))) {
|
|
|
720 |
fsm->state = ec_fsm_coe_error;
|
|
|
721 |
return;
|
|
|
722 |
}
|
|
|
723 |
|
|
|
724 |
if (mbox_prot != 0x03) { // CoE
|
|
|
725 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
726 |
fsm->state = ec_fsm_coe_error;
|
|
|
727 |
return;
|
|
|
728 |
}
|
|
|
729 |
|
|
|
730 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
|
731 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
|
|
|
732 |
EC_ERR("SDO information error response at slave %i while"
|
|
|
733 |
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
|
|
|
734 |
sdo->index, fsm->subindex);
|
|
|
735 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
736 |
fsm->state = ec_fsm_coe_error;
|
|
|
737 |
return;
|
|
|
738 |
}
|
|
|
739 |
|
|
|
740 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
|
741 |
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
|
|
|
742 |
EC_READ_U16(data + 6) != sdo->index || // SDO index
|
|
|
743 |
EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
|
|
|
744 |
EC_ERR("Invalid entry description response at slave %i while"
|
|
|
745 |
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
|
|
|
746 |
sdo->index, fsm->subindex);
|
|
|
747 |
ec_print_data(data, rec_size);
|
|
|
748 |
fsm->state = ec_fsm_coe_error;
|
|
|
749 |
return;
|
|
|
750 |
}
|
|
|
751 |
|
|
|
752 |
if (rec_size < 16) {
|
|
|
753 |
EC_ERR("Invalid data size!\n");
|
|
|
754 |
ec_print_data(data, rec_size);
|
|
|
755 |
fsm->state = ec_fsm_coe_error;
|
|
|
756 |
return;
|
|
|
757 |
}
|
|
|
758 |
|
|
|
759 |
data_size = rec_size - 16;
|
|
|
760 |
|
|
|
761 |
if (!(entry = (ec_sdo_entry_t *)
|
|
|
762 |
kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
|
|
|
763 |
EC_ERR("Failed to allocate entry!\n");
|
|
|
764 |
fsm->state = ec_fsm_coe_error;
|
|
|
765 |
return;
|
|
|
766 |
}
|
|
|
767 |
|
|
|
768 |
if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
|
|
|
769 |
EC_ERR("Failed to init entry!\n");
|
|
|
770 |
fsm->state = ec_fsm_coe_error;
|
|
|
771 |
return;
|
|
|
772 |
}
|
|
|
773 |
|
|
|
774 |
entry->data_type = EC_READ_U16(data + 10);
|
|
|
775 |
entry->bit_length = EC_READ_U16(data + 12);
|
|
|
776 |
|
|
|
777 |
if (data_size) {
|
|
|
778 |
if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) {
|
|
|
779 |
EC_ERR("Failed to allocate SDO entry name!\n");
|
|
|
780 |
fsm->state = ec_fsm_coe_error;
|
|
|
781 |
return;
|
|
|
782 |
}
|
|
|
783 |
memcpy(entry->description, data + 16, data_size);
|
|
|
784 |
entry->description[data_size] = 0;
|
|
|
785 |
}
|
|
|
786 |
|
|
|
787 |
if (kobject_add(&entry->kobj)) {
|
|
|
788 |
EC_ERR("Failed to add kobject.\n");
|
|
|
789 |
kobject_put(&entry->kobj); // free
|
|
|
790 |
fsm->state = ec_fsm_coe_error;
|
|
|
791 |
return;
|
|
|
792 |
}
|
|
|
793 |
|
|
|
794 |
list_add_tail(&entry->list, &sdo->entries);
|
|
|
795 |
|
|
|
796 |
if (fsm->subindex < sdo->subindices) {
|
|
|
797 |
fsm->subindex++;
|
|
|
798 |
|
|
|
799 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
|
|
|
800 |
fsm->state = ec_fsm_coe_error;
|
|
|
801 |
return;
|
|
|
802 |
}
|
|
|
803 |
|
|
|
804 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information
|
|
|
805 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
|
|
|
806 |
EC_WRITE_U8 (data + 3, 0x00);
|
|
|
807 |
EC_WRITE_U16(data + 4, 0x0000);
|
|
|
808 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index
|
|
|
809 |
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
|
|
|
810 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
|
|
|
811 |
|
|
|
812 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
813 |
fsm->state = ec_fsm_coe_dict_entry_request;
|
|
|
814 |
return;
|
|
|
815 |
}
|
|
|
816 |
|
|
|
817 |
// another SDO description to fetch?
|
|
|
818 |
if (fsm->sdo->list.next != &slave->sdo_dictionary) {
|
|
|
819 |
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
|
|
|
820 |
|
|
|
821 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
|
|
|
822 |
fsm->state = ec_fsm_coe_error;
|
|
|
823 |
return;
|
|
|
824 |
}
|
|
|
825 |
|
|
|
826 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information
|
|
|
827 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
|
|
|
828 |
EC_WRITE_U8 (data + 3, 0x00);
|
|
|
829 |
EC_WRITE_U16(data + 4, 0x0000);
|
|
|
830 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
|
|
|
831 |
|
|
|
832 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
833 |
fsm->state = ec_fsm_coe_dict_desc_request;
|
|
|
834 |
return;
|
|
|
835 |
}
|
|
|
836 |
|
|
|
837 |
fsm->state = ec_fsm_coe_end;
|
|
|
838 |
}
|
|
|
839 |
|
|
|
840 |
/******************************************************************************
|
|
|
841 |
* CoE state machine
|
|
|
842 |
*****************************************************************************/
|
|
|
843 |
|
|
|
844 |
/**
|
|
|
845 |
CoE state: DOWN START.
|
|
|
846 |
*/
|
|
|
847 |
|
|
|
848 |
void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
849 |
{
|
|
|
850 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
851 |
ec_slave_t *slave = fsm->slave;
|
|
|
852 |
ec_sdo_data_t *sdodata = fsm->sdodata;
|
|
|
853 |
uint8_t *data;
|
|
|
854 |
|
|
|
855 |
EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
|
|
|
856 |
sdodata->index, sdodata->subindex, slave->ring_position);
|
|
|
857 |
|
|
|
858 |
if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
|
|
|
859 |
EC_ERR("SDO fragmenting not supported yet!\n");
|
|
|
860 |
fsm->state = ec_fsm_coe_error;
|
|
|
861 |
return;
|
|
|
862 |
}
|
|
|
863 |
|
|
|
864 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
|
|
|
865 |
sdodata->size + 10))) {
|
|
|
866 |
fsm->state = ec_fsm_coe_error;
|
|
|
867 |
return;
|
|
|
868 |
}
|
|
|
869 |
|
|
|
870 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
|
871 |
EC_WRITE_U8 (data + 2, (0x1 // size specified
|
|
|
872 |
| 0x1 << 5)); // Download request
|
|
|
873 |
EC_WRITE_U16(data + 3, sdodata->index);
|
|
|
874 |
EC_WRITE_U8 (data + 5, sdodata->subindex);
|
|
|
875 |
EC_WRITE_U32(data + 6, sdodata->size);
|
|
|
876 |
memcpy(data + 10, sdodata->data, sdodata->size);
|
|
|
877 |
|
|
|
878 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
879 |
fsm->state = ec_fsm_coe_down_request;
|
|
|
880 |
}
|
|
|
881 |
|
|
|
882 |
/*****************************************************************************/
|
|
|
883 |
|
|
|
884 |
/**
|
|
|
885 |
CoE state: DOWN REQUEST.
|
|
|
886 |
*/
|
|
|
887 |
|
|
|
888 |
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
889 |
{
|
|
|
890 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
891 |
ec_slave_t *slave = fsm->slave;
|
|
|
892 |
|
|
|
893 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
894 |
|| datagram->working_counter != 1) {
|
|
|
895 |
fsm->state = ec_fsm_coe_error;
|
|
|
896 |
EC_ERR("Reception of CoE download request failed.\n");
|
|
|
897 |
return;
|
|
|
898 |
}
|
|
|
899 |
|
|
|
900 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
901 |
|
|
|
902 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
903 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
904 |
fsm->state = ec_fsm_coe_down_check;
|
|
|
905 |
}
|
|
|
906 |
|
|
|
907 |
/*****************************************************************************/
|
|
|
908 |
|
|
|
909 |
/**
|
|
|
910 |
CoE state: DOWN CHECK.
|
|
|
911 |
*/
|
|
|
912 |
|
|
|
913 |
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
914 |
{
|
|
|
915 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
916 |
ec_slave_t *slave = fsm->slave;
|
|
|
917 |
|
|
|
918 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
919 |
|| datagram->working_counter != 1) {
|
|
|
920 |
fsm->state = ec_fsm_coe_error;
|
|
|
921 |
EC_ERR("Reception of CoE mailbox check datagram failed.\n");
|
|
|
922 |
return;
|
|
|
923 |
}
|
|
|
924 |
|
|
|
925 |
if (!ec_slave_mbox_check(datagram)) {
|
|
|
926 |
if (datagram->cycles_received
|
|
|
927 |
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
|
|
|
928 |
fsm->state = ec_fsm_coe_error;
|
|
|
929 |
EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
|
|
|
930 |
slave->ring_position);
|
|
|
931 |
return;
|
|
|
932 |
}
|
|
|
933 |
|
|
|
934 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
935 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
936 |
return;
|
|
|
937 |
}
|
|
|
938 |
|
|
|
939 |
// Fetch response
|
|
|
940 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
|
941 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
942 |
fsm->state = ec_fsm_coe_down_response;
|
|
|
943 |
}
|
|
|
944 |
|
|
|
945 |
/*****************************************************************************/
|
|
|
946 |
|
|
|
947 |
/**
|
|
|
948 |
CoE state: DOWN RESPONSE.
|
|
|
949 |
*/
|
|
|
950 |
|
|
|
951 |
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
952 |
{
|
|
|
953 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
954 |
ec_slave_t *slave = fsm->slave;
|
|
|
955 |
uint8_t *data, mbox_prot;
|
|
|
956 |
size_t rec_size;
|
|
|
957 |
ec_sdo_data_t *sdodata = fsm->sdodata;
|
|
|
958 |
|
|
|
959 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
960 |
|| datagram->working_counter != 1) {
|
|
|
961 |
fsm->state = ec_fsm_coe_error;
|
|
|
962 |
EC_ERR("Reception of CoE download response failed.\n");
|
|
|
963 |
return;
|
|
|
964 |
}
|
|
|
965 |
|
|
|
966 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
967 |
&mbox_prot, &rec_size))) {
|
|
|
968 |
fsm->state = ec_fsm_coe_error;
|
|
|
969 |
return;
|
|
|
970 |
}
|
|
|
971 |
|
|
|
972 |
if (mbox_prot != 0x03) { // CoE
|
|
|
973 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
974 |
fsm->state = ec_fsm_coe_error;
|
|
|
975 |
return;
|
|
|
976 |
}
|
|
|
977 |
|
|
|
978 |
if (rec_size < 6) {
|
|
|
979 |
fsm->state = ec_fsm_coe_error;
|
|
|
980 |
EC_ERR("Received data is too small (%i bytes):\n", rec_size);
|
|
|
981 |
ec_print_data(data, rec_size);
|
|
|
982 |
return;
|
|
|
983 |
}
|
|
|
984 |
|
|
|
985 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
|
986 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
|
987 |
fsm->state = ec_fsm_coe_error;
|
|
|
988 |
EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
|
|
|
989 |
sdodata->index, sdodata->subindex, sdodata->size,
|
|
|
990 |
slave->ring_position);
|
|
|
991 |
if (rec_size < 10) {
|
|
|
992 |
EC_ERR("Incomplete Abort command:\n");
|
|
|
993 |
ec_print_data(data, rec_size);
|
|
|
994 |
}
|
|
|
995 |
else
|
|
|
996 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
997 |
return;
|
|
|
998 |
}
|
|
|
999 |
|
|
|
1000 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
|
1001 |
EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
|
|
|
1002 |
EC_READ_U16(data + 3) != sdodata->index || // index
|
|
|
1003 |
EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
|
|
|
1004 |
fsm->state = ec_fsm_coe_error;
|
|
|
1005 |
EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
|
|
|
1006 |
sdodata->index, sdodata->subindex, sdodata->size);
|
|
|
1007 |
EC_ERR("Invalid SDO download response at slave %i!\n",
|
|
|
1008 |
slave->ring_position);
|
|
|
1009 |
ec_print_data(data, rec_size);
|
|
|
1010 |
return;
|
|
|
1011 |
}
|
|
|
1012 |
|
|
|
1013 |
fsm->state = ec_fsm_coe_end; // success
|
|
|
1014 |
}
|
|
|
1015 |
|
|
|
1016 |
/*****************************************************************************/
|
|
|
1017 |
|
|
|
1018 |
/**
|
|
|
1019 |
CoE state: UP START.
|
|
|
1020 |
*/
|
|
|
1021 |
|
|
|
1022 |
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1023 |
{
|
|
|
1024 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1025 |
ec_slave_t *slave = fsm->slave;
|
|
|
1026 |
ec_master_t *master = slave->master;
|
|
|
1027 |
ec_sdo_request_t *request = fsm->request;
|
|
|
1028 |
ec_sdo_t *sdo = request->sdo;
|
|
|
1029 |
ec_sdo_entry_t *entry = request->entry;
|
|
|
1030 |
uint8_t *data;
|
|
|
1031 |
|
|
|
1032 |
EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
|
|
|
1033 |
sdo->index, entry->subindex, slave->ring_position);
|
|
|
1034 |
|
|
|
1035 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
|
|
|
1036 |
fsm->state = ec_fsm_coe_error;
|
|
|
1037 |
return;
|
|
|
1038 |
}
|
|
|
1039 |
|
|
|
1040 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
|
1041 |
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
|
|
|
1042 |
EC_WRITE_U16(data + 3, sdo->index);
|
|
|
1043 |
EC_WRITE_U8 (data + 5, entry->subindex);
|
|
|
1044 |
|
|
|
1045 |
if (master->debug_level) {
|
|
|
1046 |
EC_DBG("Upload request:\n");
|
|
|
1047 |
ec_print_data(data, 6);
|
|
|
1048 |
}
|
|
|
1049 |
|
|
|
1050 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1051 |
fsm->state = ec_fsm_coe_up_request;
|
|
|
1052 |
}
|
|
|
1053 |
|
|
|
1054 |
/*****************************************************************************/
|
|
|
1055 |
|
|
|
1056 |
/**
|
|
|
1057 |
CoE state: UP REQUEST.
|
|
|
1058 |
*/
|
|
|
1059 |
|
|
|
1060 |
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1061 |
{
|
|
|
1062 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1063 |
ec_slave_t *slave = fsm->slave;
|
|
|
1064 |
|
|
|
1065 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1066 |
|| datagram->working_counter != 1) {
|
|
|
1067 |
fsm->state = ec_fsm_coe_error;
|
|
|
1068 |
EC_ERR("Reception of CoE upload request failed.\n");
|
|
|
1069 |
return;
|
|
|
1070 |
}
|
|
|
1071 |
|
|
|
1072 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
1073 |
|
|
|
1074 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
1075 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1076 |
fsm->state = ec_fsm_coe_up_check;
|
|
|
1077 |
}
|
|
|
1078 |
|
|
|
1079 |
/*****************************************************************************/
|
|
|
1080 |
|
|
|
1081 |
/**
|
|
|
1082 |
CoE state: UP CHECK.
|
|
|
1083 |
*/
|
|
|
1084 |
|
|
|
1085 |
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1086 |
{
|
|
|
1087 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1088 |
ec_slave_t *slave = fsm->slave;
|
|
|
1089 |
|
|
|
1090 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1091 |
|| datagram->working_counter != 1) {
|
|
|
1092 |
fsm->state = ec_fsm_coe_error;
|
|
|
1093 |
EC_ERR("Reception of CoE mailbox check datagram failed.\n");
|
|
|
1094 |
return;
|
|
|
1095 |
}
|
|
|
1096 |
|
|
|
1097 |
if (!ec_slave_mbox_check(datagram)) {
|
|
|
1098 |
if (datagram->cycles_received
|
|
|
1099 |
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
|
|
|
1100 |
fsm->state = ec_fsm_coe_error;
|
|
|
1101 |
EC_ERR("Timeout while checking SDO upload on slave %i.\n",
|
|
|
1102 |
slave->ring_position);
|
|
|
1103 |
return;
|
|
|
1104 |
}
|
|
|
1105 |
|
|
|
1106 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
1107 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1108 |
return;
|
|
|
1109 |
}
|
|
|
1110 |
|
|
|
1111 |
// Fetch response
|
|
|
1112 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
|
1113 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1114 |
fsm->state = ec_fsm_coe_up_response;
|
|
|
1115 |
}
|
|
|
1116 |
|
|
|
1117 |
/*****************************************************************************/
|
|
|
1118 |
|
|
|
1119 |
/**
|
|
|
1120 |
CoE state: UP RESPONSE.
|
|
|
1121 |
*/
|
|
|
1122 |
|
|
|
1123 |
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1124 |
{
|
|
|
1125 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1126 |
ec_slave_t *slave = fsm->slave;
|
|
|
1127 |
ec_master_t *master = slave->master;
|
|
|
1128 |
uint8_t *data, mbox_prot;
|
|
|
1129 |
size_t rec_size, data_size;
|
|
|
1130 |
ec_sdo_request_t *request = fsm->request;
|
|
|
1131 |
ec_sdo_t *sdo = request->sdo;
|
|
|
1132 |
ec_sdo_entry_t *entry = request->entry;
|
|
|
1133 |
uint32_t complete_size;
|
|
|
1134 |
unsigned int expedited, size_specified;
|
|
|
1135 |
|
|
|
1136 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1137 |
|| datagram->working_counter != 1) {
|
|
|
1138 |
fsm->state = ec_fsm_coe_error;
|
|
|
1139 |
EC_ERR("Reception of CoE upload response failed.\n");
|
|
|
1140 |
return;
|
|
|
1141 |
}
|
|
|
1142 |
|
|
|
1143 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
1144 |
&mbox_prot, &rec_size))) {
|
|
|
1145 |
fsm->state = ec_fsm_coe_error;
|
|
|
1146 |
return;
|
|
|
1147 |
}
|
|
|
1148 |
|
|
|
1149 |
if (master->debug_level) {
|
|
|
1150 |
EC_DBG("Upload response:\n");
|
|
|
1151 |
ec_print_data(data, rec_size);
|
|
|
1152 |
}
|
|
|
1153 |
|
|
|
1154 |
if (mbox_prot != 0x03) { // CoE
|
|
|
1155 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
1156 |
fsm->state = ec_fsm_coe_error;
|
|
|
1157 |
return;
|
|
|
1158 |
}
|
|
|
1159 |
|
|
|
1160 |
if (rec_size < 10) {
|
|
|
1161 |
EC_ERR("Received currupted SDO upload response!\n");
|
|
|
1162 |
ec_print_data(data, rec_size);
|
|
|
1163 |
fsm->state = ec_fsm_coe_error;
|
|
|
1164 |
return;
|
|
|
1165 |
}
|
|
|
1166 |
|
|
|
1167 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
|
1168 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
|
1169 |
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
|
|
|
1170 |
sdo->index, entry->subindex, slave->ring_position);
|
|
|
1171 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
1172 |
fsm->state = ec_fsm_coe_error;
|
|
|
1173 |
return;
|
|
|
1174 |
}
|
|
|
1175 |
|
|
|
1176 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
|
1177 |
EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
|
|
|
1178 |
EC_READ_U16(data + 3) != sdo->index || // index
|
|
|
1179 |
EC_READ_U8 (data + 5) != entry->subindex) { // subindex
|
|
|
1180 |
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
|
|
|
1181 |
EC_ERR("Invalid SDO upload response at slave %i!\n",
|
|
|
1182 |
slave->ring_position);
|
|
|
1183 |
ec_print_data(data, rec_size);
|
|
|
1184 |
fsm->state = ec_fsm_coe_error;
|
|
|
1185 |
return;
|
|
|
1186 |
}
|
|
|
1187 |
|
|
|
1188 |
data_size = rec_size - 10;
|
|
|
1189 |
expedited = EC_READ_U8(data + 2) & 0x02;
|
|
|
1190 |
|
|
|
1191 |
if (expedited) {
|
|
|
1192 |
EC_WARN("Received expedited response upon normal request!\n");
|
|
|
1193 |
|
|
|
1194 |
size_specified = EC_READ_U8(data + 2) & 0x01;
|
|
|
1195 |
if (size_specified) {
|
|
|
1196 |
complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
|
|
|
1197 |
}
|
|
|
1198 |
else {
|
|
|
1199 |
complete_size = 4;
|
|
|
1200 |
}
|
|
|
1201 |
}
|
|
|
1202 |
else {
|
|
|
1203 |
complete_size = EC_READ_U32(data + 6);
|
|
|
1204 |
}
|
|
|
1205 |
|
|
|
1206 |
if (request->data) {
|
|
|
1207 |
kfree(request->data);
|
|
|
1208 |
request->data = NULL;
|
|
|
1209 |
}
|
|
|
1210 |
request->size = 0;
|
|
|
1211 |
|
|
|
1212 |
if (complete_size) {
|
|
|
1213 |
if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
|
|
|
1214 |
EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
|
|
|
1215 |
fsm->state = ec_fsm_coe_error;
|
|
|
1216 |
return;
|
|
|
1217 |
}
|
|
|
1218 |
request->data[complete_size] = 0x00; // just to be sure...
|
|
|
1219 |
}
|
|
|
1220 |
|
|
|
1221 |
if (expedited) {
|
|
|
1222 |
memcpy(request->data, data + 6, complete_size);
|
|
|
1223 |
request->size = complete_size;
|
|
|
1224 |
}
|
|
|
1225 |
else {
|
|
|
1226 |
memcpy(request->data, data + 10, data_size);
|
|
|
1227 |
request->size = data_size;
|
|
|
1228 |
fsm->toggle = 0;
|
|
|
1229 |
|
|
|
1230 |
if (data_size < complete_size) {
|
|
|
1231 |
EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
|
|
|
1232 |
|
|
|
1233 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
|
|
|
1234 |
fsm->state = ec_fsm_coe_error;
|
|
|
1235 |
return;
|
|
|
1236 |
}
|
|
|
1237 |
|
|
|
1238 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
|
1239 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
|
|
|
1240 |
| 0x3 << 5)); // upload segment request
|
|
|
1241 |
|
|
|
1242 |
if (master->debug_level) {
|
|
|
1243 |
EC_DBG("Upload segment request:\n");
|
|
|
1244 |
ec_print_data(data, 3);
|
|
|
1245 |
}
|
|
|
1246 |
|
|
|
1247 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1248 |
fsm->state = ec_fsm_coe_up_seg_request;
|
|
|
1249 |
return;
|
|
|
1250 |
}
|
|
|
1251 |
}
|
|
|
1252 |
|
|
|
1253 |
fsm->state = ec_fsm_coe_end; // success
|
|
|
1254 |
}
|
|
|
1255 |
|
|
|
1256 |
/*****************************************************************************/
|
|
|
1257 |
|
|
|
1258 |
/**
|
|
|
1259 |
CoE state: UP REQUEST.
|
|
|
1260 |
*/
|
|
|
1261 |
|
|
|
1262 |
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1263 |
{
|
|
|
1264 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1265 |
ec_slave_t *slave = fsm->slave;
|
|
|
1266 |
|
|
|
1267 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1268 |
|| datagram->working_counter != 1) {
|
|
|
1269 |
fsm->state = ec_fsm_coe_error;
|
|
|
1270 |
EC_ERR("Reception of CoE upload segment request failed.\n");
|
|
|
1271 |
return;
|
|
|
1272 |
}
|
|
|
1273 |
|
|
|
1274 |
fsm->cycles_start = datagram->cycles_sent;
|
|
|
1275 |
|
|
|
1276 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
1277 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1278 |
fsm->state = ec_fsm_coe_up_seg_check;
|
|
|
1279 |
}
|
|
|
1280 |
|
|
|
1281 |
/*****************************************************************************/
|
|
|
1282 |
|
|
|
1283 |
/**
|
|
|
1284 |
CoE state: UP CHECK.
|
|
|
1285 |
*/
|
|
|
1286 |
|
|
|
1287 |
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1288 |
{
|
|
|
1289 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1290 |
ec_slave_t *slave = fsm->slave;
|
|
|
1291 |
|
|
|
1292 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1293 |
|| datagram->working_counter != 1) {
|
|
|
1294 |
fsm->state = ec_fsm_coe_error;
|
|
|
1295 |
EC_ERR("Reception of CoE mailbox check datagram failed.\n");
|
|
|
1296 |
return;
|
|
|
1297 |
}
|
|
|
1298 |
|
|
|
1299 |
if (!ec_slave_mbox_check(datagram)) {
|
|
|
1300 |
if (datagram->cycles_received
|
|
|
1301 |
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
|
|
|
1302 |
fsm->state = ec_fsm_coe_error;
|
|
|
1303 |
EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
|
|
|
1304 |
slave->ring_position);
|
|
|
1305 |
return;
|
|
|
1306 |
}
|
|
|
1307 |
|
|
|
1308 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
|
1309 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1310 |
return;
|
|
|
1311 |
}
|
|
|
1312 |
|
|
|
1313 |
// Fetch response
|
|
|
1314 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
|
1315 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1316 |
fsm->state = ec_fsm_coe_up_seg_response;
|
|
|
1317 |
}
|
|
|
1318 |
|
|
|
1319 |
/*****************************************************************************/
|
|
|
1320 |
|
|
|
1321 |
/**
|
|
|
1322 |
CoE state: UP RESPONSE.
|
|
|
1323 |
*/
|
|
|
1324 |
|
|
|
1325 |
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1326 |
{
|
|
|
1327 |
ec_datagram_t *datagram = fsm->datagram;
|
|
|
1328 |
ec_slave_t *slave = fsm->slave;
|
|
|
1329 |
ec_master_t *master = slave->master;
|
|
|
1330 |
uint8_t *data, mbox_prot;
|
|
|
1331 |
size_t rec_size, data_size;
|
|
|
1332 |
ec_sdo_request_t *request = fsm->request;
|
|
|
1333 |
ec_sdo_t *sdo = request->sdo;
|
|
|
1334 |
ec_sdo_entry_t *entry = request->entry;
|
|
|
1335 |
uint32_t seg_size;
|
|
|
1336 |
unsigned int last_segment;
|
|
|
1337 |
|
|
|
1338 |
if (datagram->state != EC_DATAGRAM_RECEIVED
|
|
|
1339 |
|| datagram->working_counter != 1) {
|
|
|
1340 |
fsm->state = ec_fsm_coe_error;
|
|
|
1341 |
EC_ERR("Reception of CoE upload segment response failed.\n");
|
|
|
1342 |
return;
|
|
|
1343 |
}
|
|
|
1344 |
|
|
|
1345 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
|
|
|
1346 |
&mbox_prot, &rec_size))) {
|
|
|
1347 |
fsm->state = ec_fsm_coe_error;
|
|
|
1348 |
return;
|
|
|
1349 |
}
|
|
|
1350 |
|
|
|
1351 |
if (master->debug_level) {
|
|
|
1352 |
EC_DBG("Upload segment response:\n");
|
|
|
1353 |
ec_print_data(data, rec_size);
|
|
|
1354 |
}
|
|
|
1355 |
|
|
|
1356 |
if (mbox_prot != 0x03) { // CoE
|
|
|
1357 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
1358 |
fsm->state = ec_fsm_coe_error;
|
|
|
1359 |
return;
|
|
|
1360 |
}
|
|
|
1361 |
|
|
|
1362 |
if (rec_size < 10) {
|
|
|
1363 |
EC_ERR("Received currupted SDO upload segment response!\n");
|
|
|
1364 |
ec_print_data(data, rec_size);
|
|
|
1365 |
fsm->state = ec_fsm_coe_error;
|
|
|
1366 |
return;
|
|
|
1367 |
}
|
|
|
1368 |
|
|
|
1369 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
|
1370 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
|
1371 |
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
|
|
|
1372 |
sdo->index, entry->subindex, slave->ring_position);
|
|
|
1373 |
ec_canopen_abort_msg(EC_READ_U32(data + 6));
|
|
|
1374 |
fsm->state = ec_fsm_coe_error;
|
|
|
1375 |
return;
|
|
|
1376 |
}
|
|
|
1377 |
|
|
|
1378 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
|
1379 |
EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
|
|
|
1380 |
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
|
|
|
1381 |
EC_ERR("Invalid SDO upload segment response at slave %i!\n",
|
|
|
1382 |
slave->ring_position);
|
|
|
1383 |
ec_print_data(data, rec_size);
|
|
|
1384 |
fsm->state = ec_fsm_coe_error;
|
|
|
1385 |
return;
|
|
|
1386 |
}
|
|
|
1387 |
|
|
|
1388 |
last_segment = EC_READ_U8(data + 2) & 0x01;
|
|
|
1389 |
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
|
|
|
1390 |
data_size = rec_size - 10;
|
|
|
1391 |
|
|
|
1392 |
if (data_size != seg_size) {
|
|
|
1393 |
EC_WARN("SDO segment data invalid (%i / %i)"
|
|
|
1394 |
" - Fragmenting not implemented.\n",
|
|
|
1395 |
data_size, seg_size);
|
|
|
1396 |
}
|
|
|
1397 |
|
|
|
1398 |
memcpy(request->data + request->size, data + 10, data_size);
|
|
|
1399 |
request->size += data_size;
|
|
|
1400 |
|
|
|
1401 |
if (!last_segment) {
|
|
|
1402 |
fsm->toggle = !fsm->toggle;
|
|
|
1403 |
|
|
|
1404 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
|
|
|
1405 |
fsm->state = ec_fsm_coe_error;
|
|
|
1406 |
return;
|
|
|
1407 |
}
|
|
|
1408 |
|
|
|
1409 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
|
1410 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
|
|
|
1411 |
| 0x3 << 5)); // upload segment request
|
|
|
1412 |
|
|
|
1413 |
if (master->debug_level) {
|
|
|
1414 |
EC_DBG("Upload segment request:\n");
|
|
|
1415 |
ec_print_data(data, 3);
|
|
|
1416 |
}
|
|
|
1417 |
|
|
|
1418 |
ec_master_queue_datagram(fsm->slave->master, datagram);
|
|
|
1419 |
fsm->state = ec_fsm_coe_up_seg_request;
|
|
|
1420 |
return;
|
|
|
1421 |
}
|
|
|
1422 |
|
|
|
1423 |
fsm->state = ec_fsm_coe_end; // success
|
|
|
1424 |
}
|
|
|
1425 |
|
|
|
1426 |
/*****************************************************************************/
|
|
|
1427 |
|
|
|
1428 |
/**
|
|
|
1429 |
State: ERROR.
|
|
|
1430 |
*/
|
|
|
1431 |
|
|
|
1432 |
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1433 |
{
|
|
|
1434 |
}
|
|
|
1435 |
|
|
|
1436 |
/*****************************************************************************/
|
|
|
1437 |
|
|
|
1438 |
/**
|
|
|
1439 |
State: END.
|
|
|
1440 |
*/
|
|
|
1441 |
|
|
|
1442 |
void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
|
|
|
1443 |
{
|
|
|
1444 |
}
|
|
|
1445 |
|
|
|
1446 |
/*****************************************************************************/
|